Helicopter vibration control system and circular force generation systems for canceling vibrations

ABSTRACT

A rotary wing aircraft including a vehicle vibration control system. The vehicle vibration control system includes a rotary wing aircraft member sensor for outputting rotary wing aircraft member data correlating to the relative rotation of the rotating rotary wing hub member rotating relative to the body, at least a first nonrotating body vibration sensor, the at least first nonrotating body vibration sensor outputting at least first nonrotating body vibration sensor data correlating to vibrations, at least a first nonrotating body circular force generator, the at least a first nonrotating body circular force generator fixedly coupled with the nonrotating body, the at least first nonrotating body circular force generator controlled to produce a rotating force with a controllable rotating force magnitude and a controllable rotating force phase, the controllable rotating force magnitude controlled from a minimal force magnitude up to a maximum force magnitude, and with the controllable rotating force phase controlled in reference to the rotary wing aircraft member sensor data correlating to the relative rotation of the rotating rotary wing hub rotating relative to the nonrotating body wherein the vibration sensed by the at least first nonrotating body vibration sensor is reduced.

CROSS-REFERENCE

This patent application is a Divisional application of co-pending U.S.application Ser. No. 12/971,026 filed Dec. 17, 2010, which is aContinuation of pending U.S. patent application Ser. No. 12/419,775filed Apr. 7, 2009 which is a Continuation in Part (CIP) of pending U.S.patent application Ser. No. 12/286,461 filed on Sep. 30, 2008, which isa Continuation of U.S. patent application Ser. No. 11/215,388 filed onAug. 30, 2005, now U.S. Pat. No. 7,448,854, and U.S. patent applicationSer. No. 11/215,388 claims the benefit of U.S. Provisional PatentApplication 60/605,470 filed on Aug. 30, 2004. U.S. patent applicationSer. No. 12/419,775 is a Continuation in Part (CIP) of then pending U.S.patent application Ser. No. 11/557,384 filed on Nov. 7, 2006, now U.S.Pat. No. 7,722,322, which claims the benefit of U.S. Provisional PatentApplication 60/734,232 filed on Nov. 7, 2005. U.S. patent applicationSer. No. 11/557,384 is a Continuation-in-Part (CIP) of U.S. patentapplication Ser. No. 11/215,388 filed on Aug. 30, 2005, now U.S. Pat.No. 7,448,854. U.S. patent application Ser. No. 11/215,388 claims thebenefit of U.S. Provisional Patent Application 60/605,470 filed on Aug.30, 2004. This Application is a Continuation of pending U.S. patentapplication Ser. No. 12/419,775 filed Apr. 7, 2009 which claims thebenefit of U.S. Provisional Patent Application 61/042,980 filed on Apr.7, 2008, and U.S. patent application Ser. No. 12/419,775 also claims thebenefit of U.S. Provisional Patent Application 61/122,160 filed on Dec.12, 2008. This Application is a Continuation-in-Part (CIP) of pendingU.S. patent application Ser. No. 12/288,867 filed on Oct. 24, 2008, U.S.patent application Ser. No. 12/288,867 claims the benefit of U.S.Provisional Patent Application 60/982,612 filed on Oct. 25, 2007, all ofwhich the priority are hereby claimed. The benefit of all of the aboveare hereby claimed and all of the above are hereby incorporated byreference.

FIELD OF THE INVENTION

The invention relates to the field of vibration control systems foractively minimizing vibrations in structures. The invention relates tothe field of methods/systems for actively controlling vibrations invehicles. More particularly the invention relates to the field ofcontrolling vibrations in aircraft vehicles having a nonrotating bodyand a rotating member, and more particularly the invention relates tohelicopter vibration control systems.

SUMMARY OF THE INVENTION

In embodiments the invention includes a rotary wing aircraft, the rotarywing aircraft having a nonrotating aerostructure body and a rotatingrotary wing hub, the rotary wing aircraft including a vehicle vibrationcontrol system, a rotating hub mounted vibration control system, therotating hub mounted vibration control system mounted to the rotatingrotary wing hub with the rotating hub mounted vibration control systemrotating with the rotating rotary wing hub, a rotary wing aircraftmember sensor for outputting rotary wing aircraft member datacorrelating to the relative rotation of the rotating rotary wing hubmember rotating relative to the nonrotating body, at least a firstnonrotating body vibration sensor, the at least first nonrotating bodyvibration sensor outputting at least first nonrotating body vibrationsensor data correlating to vibrations, at least a first nonrotating bodycircular force generator, the at least a first nonrotating body circularforce generator fixedly coupled with the nonrotating body, a distributedforce generation data communications network link, the distributed forcegeneration data communications system network link linking together atleast the first nonrotating body circular force generator and therotating hub mounted vibration control system wherein the rotating hubmounted vibration control system and the first nonrotating body circularforce generator communicate force generation vibration control datathrough the distributed force generation data communications network,the at least first nonrotating body circular force generator controlledto produce a rotating force with a controllable rotating force magnitudeand a controllable rotating force phase, the controllable rotating forcemagnitude controlled from a minimal force magnitude up to a maximumforce magnitude, and with the controllable rotating force phasecontrolled in reference to the rotary wing aircraft member sensor datacorrelating to the relative rotation of the rotating rotary wing hubrotating relative to the nonrotating body wherein the vibration sensedby the at least first nonrotating body vibration sensor is reduced.

In embodiments the invention includes a aircraft vibration controlsystem, for a aircraft vehicle having a nonrotating aerostructure bodyand a rotating rotary wing hub, including, a rotating hub mountedvibration control system, the rotating hub mounted vibration controlsystem mounted to the rotating rotary wing hub with the rotating hubmounted vibration control system rotating with the rotating rotary winghub, a rotary wing aircraft member sensor for outputting rotary wingaircraft member data correlating to the relative rotation of therotating rotary wing hub member rotating relative to the nonrotatingbody, at least a first nonrotating body vibration sensor, the at leastfirst nonrotating body vibration sensor outputting at least firstnonrotating body vibration sensor data correlating to vibrations, atleast a first nonrotating body force generator, the at least firstnonrotating body force generator fixedly coupled with the nonrotatingbody, a distributed force generation data communications network seriallink, the distributed force generation data communications systemnetwork serial link linking together at least the first nonrotating bodyforce generator and the rotating hub mounted vibration control systemwherein the rotating hub mounted vibration control system and the firstnonrotating body force generator communicate and share force generationvibration control data through the distributed force generation datacommunications network, the at least first nonrotating body forcegenerator controlled to produce a force with a controllable magnitudeand a controllable phase, the controllable force magnitude controlledfrom a minimal force magnitude up to a maximum force magnitude, and withthe controllable force phase controlled in reference to the rotary wingaircraft member sensor data correlating to the relative rotation of therotating rotary wing hub rotating relative to the nonrotating body andthe rotating hub mounted vibration control system includes at least afirst hub mounted vibration control system rotor with a first imbalancemass concentration, the first hub mounted vibration control system rotordriven to rotate at a first rotation speed greater than an operationalrotation frequency of the rotating rotary wing hub, and at least asecond hub mounted vibration control system rotor with a secondimbalance mass concentration, the second hub mounted vibration controlsystem rotor driven to rotate at the first rotation speed greater thanthe operational rotation frequency of the rotating rotary wing hub,wherein the vibration sensed by the at least first nonrotating bodyvibration sensor is reduced.

In embodiments the invention includes a aircraft vibration controlsystem, for a aircraft vehicle having a nonrotating aerostructure bodyand a rotating rotary wing hub, including, a rotating hub mounted meansfor controlling vibrations, the rotating hub mounted means forcontrolling vibrations mounted to the rotating rotary wing hub with therotating hub mounted means for controlling vibrations rotating with therotating rotary wing hub, a rotary wing aircraft member sensor foroutputting rotary wing aircraft member data correlating to the relativerotation of the rotating rotary wing hub member rotating relative to thenonrotating body, at least a first nonrotating body vibration sensor,the at least first nonrotating body vibration sensor outputting at leastfirst nonrotating body vibration sensor data correlating to vibrations,at least a first nonrotating body force generator, the at least firstnonrotating body force generator fixedly coupled with the nonrotatingbody, a means for linking together the first nonrotating body forcegenerator and the rotating hub mounted means for controlling vibrationswherein the rotating hub mounted means for controlling vibrations andthe first nonrotating body force generator communicate and share forcegeneration vibration control data through the means for linking, the atleast first nonrotating body force generator controlled to produce aforce with a controllable magnitude and a controllable phase, thecontrollable force magnitude controlled from a minimal force magnitudeup to a maximum force magnitude, and with the controllable force phasecontrolled in reference to the rotary wing aircraft member sensor datacorrelating to the relative rotation of the rotating rotary wing hubrotating relative to the nonrotating body and, wherein the vibrationsensed by the at least first nonrotating body vibration sensor isreduced.

In embodiments the invention includes a vehicle vibration control systemfor controlling troublesome vibrations in a nonrotating vehicle bodyhaving a rotating machine member, the vehicle vibration control systemincluding a vehicle vibration control system controller, a rotatingmachine member sensor, for inputting vehicle rotating machine memberdata correlating to a relative rotation of the rotating machine memberrotating relative to the nonrotating body into the vehicle vibrationcontrol system controller, at least a first nonrotating vehicle bodyvibration sensor, the at least first nonrotating vehicle body vibrationsensor inputting at least first nonrotating vehicle body vibrationsensor data correlating to vehicle vibrations into the vehicle vibrationcontrol system controller, at least a first nonrotating vehicle bodycircular force generator, the at least a first nonrotating vehicle bodycircular force generator for fixedly mounting to the nonrotating vehiclebody wherein the at least first nonrotating vehicle body circular forcegenerator is controlled by the controller to produce a rotating forcewith a controllable rotating force magnitude and a controllable rotatingforce phase, the controllable rotating force magnitude controlled from aminimal force magnitude up to a maximum force magnitude, and with thecontrollable rotating force phase controlled in reference to the vehiclerotating machine member sensor data correlating to the relative rotationof the vehicle rotating machine member rotating relative to thenonrotating vehicle body with the vehicle vibration sensed by the atleast first nonrotating vehicle body vibration sensor reduced by thecontroller, and a hub mounted vibration control system, the hub mountedvibration control system linked with the vehicle vibration controlsystem controller.

In embodiments the invention includes a method of controlling vibration,the method including, providing at least a first nonrotating vehiclebody circular force generator, fixedly mounting the at least firstnonrotating vehicle body circular force generator to a nonrotatingvehicle body, controlling the at least first nonrotating vehicle bodycircular force generator to produce a rotating force with a controllablerotating force magnitude and a controllable rotating force phase,providing hub mounted vibration control system, fixedly mounting the hubmounted vibration control system to a rotatable hub of the nonrotatingvehicle body, providing distributed force generation data communicationsnetwork link and linking the hub mounted vibration control systemtogether with the at least first nonrotating vehicle body circular forcegenerator.

In an embodiment the invention includes a rotary wing aircraft vehicle,the vehicle having a nonrotating vehicle structure frame body and arotating machine member, the vehicle including a vehicle vibrationcontrol system, the vehicle vibration control system including a vehiclevibration control system controller. The vehicle includes a vehiclerotating machine member sensor for inputting vehicle rotating machinemember data correlating to the relative rotation of the vehicle rotatingmachine member rotating relative to the nonrotating vehicle body intothe vehicle vibration control system controller. The vehicle includes atleast a first nonrotating vehicle body vibration sensor, the at leastfirst nonrotating vehicle body vibration sensor inputting at least firstnonrotating vehicle body vibration sensor data correlating to vehiclevibrations into the vehicle vibration control system controller. Thevehicle includes at least a first nonrotating vehicle body circularforce generator, the at least a first nonrotating vehicle body circularforce generator fixedly coupled with the nonrotating vehicle body, theat least first nonrotating vehicle body circular force generatorcontrolled by the controller to produce a rotating force with acontrollable rotating force magnitude and a controllable rotating forcephase, the controllable rotating force magnitude controlled from aminimal force magnitude up to a maximum force magnitude, and with thecontrollable rotating force phase controlled in reference to the vehiclerotating machine member sensor data correlating to the relative rotationof the vehicle rotating machine member rotating relative to thenonrotating vehicle body wherein the vehicle vibration sensed by the atleast first nonrotating vehicle body vibration sensor is reduced.

In an embodiment the invention includes a vehicle vibration controlsystem for controlling troublesome vibrations in a nonrotating vehiclebody having a rotating machine member. The vehicle vibration controlsystem including a vehicle vibration control system controller. Thevehicle vibration control system including a rotating machine membersensor, for inputting vehicle rotating machine member data correlatingto a relative rotation of the rotating machine member rotating relativeto the nonrotating body into the vehicle vibration control systemcontroller. The vehicle vibration control system including at least afirst nonrotating vehicle body vibration sensor, the at least firstnonrotating vehicle body vibration sensor inputting at least firstnonrotating vehicle body vibration sensor data correlating to vehiclevibrations into the vehicle vibration control system controller. Thevehicle vibration control system including at least a first nonrotatingvehicle body circular force generator, the at least a first nonrotatingvehicle body circular force generator for fixedly mounting to thenonrotating vehicle body wherein the at least first nonrotating vehiclebody circular force generator is controlled by the controller to producea rotating force with a controllable rotating force magnitude and acontrollable rotating force phase, the controllable rotating forcemagnitude controlled from a minimal force magnitude up to a maximumforce magnitude, and with the controllable rotating force phasecontrolled in reference to the vehicle rotating machine member sensordata correlating to the relative rotation of the vehicle rotatingmachine member rotating relative to the nonrotating vehicle body withthe vehicle vibration sensed by the at least first nonrotating vehiclebody vibration sensor reduced by the controller.

In an embodiment the invention includes a method of controllinghelicopter vibrations. The method includes providing a nonrotatinghelicopter body below a rotating helicopter rotor member. The methodincludes providing a vibration control system controller. The methodincludes providing a rotating helicopter rotor member sensor forinputting rotating member data correlating to a relative rotation of therotating member rotating relative to the nonrotating body into thevibration control system controller. The method includes providing atleast a first nonrotating body vibration sensor, the at least firstnonrotating vehicle body vibration sensor inputting at least firstnonrotating body vibration sensor data correlating to vehicle vibrationsinto the vibration control system controller. The method includesproviding at least a first nonrotating vehicle body circular forcegenerator. The method includes coupling the at least first nonrotatingvehicle body circular force generator to the nonrotating helicopterbody. The method includes controlling with the controller the coupled atleast first nonrotating vehicle body circular force generator to producea rotating force upon the nonrotating helicopter body with acontrollable rotating force magnitude and a controllable rotating forcephase, the controllable rotating force magnitude controlled from aminimal force magnitude up to a maximum force magnitude, and with thecontrollable rotating force phase controlled in reference to therotating member sensor data correlating to the relative rotation of therotating member rotating relative to the nonrotating body with thevibration sensed by the at least first nonrotating vehicle bodyvibration sensor reduced by the controller.

In an embodiment the invention includes a method of controllingvibrations. The method includes providing a nonrotating structure bodyhaving a rotating machine member. The method includes providing avibration control system controller. The method includes providing arotating machine member sensor, for inputting rotating member datacorrelating to a relative rotation of the rotating member rotatingrelative to the nonrotating body into the vibration control systemcontroller. The method includes providing at least a first nonrotatingbody vibration sensor, the at least first nonrotating body vibrationsensor inputting at least first nonrotating body vibration sensor datacorrelating to vibrations into the vibration control system controller.The method includes providing at least a first nonrotating body circularforce generator. The method includes coupling the at least firstnonrotating vehicle body circular force generator to the nonrotatingstructure body. The method includes controlling with the controller thecoupled at least first nonrotating body circular force generator toproduce a rotating force with a controllable rotating force magnitudeand a controllable rotating force phase, the controllable rotating forcemagnitude controlled from a minimal force magnitude up to a maximumforce magnitude, and with the controllable rotating force phasecontrolled relative to the rotating member sensor data correlating tothe relative rotation of the rotating member rotating relative to thenonrotating body with the vibration sensed by the at least firstnonrotating vehicle body vibration sensor reduced by the controller.

In an embodiment the invention includes a computer program product for avibration control system. The computer program product comprising acomputer readable medium. The computer program product comprisingprogram instructions to monitor rotating machine member data correlatingto a relative rotation of a rotating machine member rotating relative toa nonrotating body structure. The computer program product comprisingprogram instructions to monitor nonrotating body structure vibrationsensor data correlating to nonrotating body structure vibrations. Thecomputer program product comprising program instructions to control acircular force generator mounted to the nonrotating body structure tocontrol the circular force generator to output into the nonrotating bodystructure a rotating force with a controllable rotating force magnitudecontrolled from a minimal force magnitude up to a maximum forcemagnitude and a controllable rotating force phase controlled inreference to the monitored rotating machine member data to minimizenonrotating body structure vibrations.

In an embodiment the invention includes a computer system for reducingvibrations in a vehicle with a nonrotating body structure and a rotatingmachine member rotating relative to the nonrotating body structure. Thecomputer system comprising computer media with computer programinstructions including program instructions to monitor rotating machinemember data correlating to the relative rotation of the rotating machinemember rotating relative to the nonrotating body structure. The computersystem comprising computer media with computer program instructionsincluding program instructions to monitor nonrotating body structurevibration sensor data correlating to nonrotating body structurevibrations measured by a plurality of nonrotating vehicle body vibrationsensors. The computer system comprising computer media with computerprogram instructions including program instructions to control acircular force generator mounted to the nonrotating body structure tocontrol the circular force generator to produce a rotating force with acontrollable rotating force magnitude controlled from a minimal forcemagnitude up to a maximum force magnitude and a controllable rotatingforce phase controlled in reference to the monitored rotating machinemember data to minimize nonrotating body structure vibrations measuredby the plurality of nonrotating vehicle body vibration sensors.

In an embodiment the invention includes a computer system with acomputer data signal. The system includes the computer data signaltransmitted in the vibration reducing computer system for a vehicle witha nonrotating body structure and a rotating machine member rotatingrelative to the nonrotating body structure. The computer system with thecomputer data signal includes a circular force command signal includinginformation for producing a rotating force with a controllable rotatingforce magnitude controlled from a minimal force magnitude up to amaximum force magnitude into the nonrotating body structure and acontrollable rotating force phase controlled in reference to therotating machine member to minimize nonrotating body structurevibrations in the nonrotating body structure.

In an embodiment the invention includes a vibration control system forcontrolling vibration on a structure responsive to a vibrationdisturbance at a given frequency. The vibration control systempreferably includes a circular force generator for creating acontrollable rotating force with controllable magnitude and phase. Thevibration control system preferably includes a vibration sensor forgenerating a vibration signal indicative of vibration of the structure.The vibration control system preferably includes a controller thatreceives the vibration signal from the vibration sensor and commands theforce generator to create said rotating force wherein such vibration ofthe structure sensed by the sensor is reduced. Preferably the vibrationcontrol system includes multiple circular force generators and multiplevibration sensors distributed throughout the structure, most preferablywith the quantity of vibration sensors greater than the quantity ofcircular force generators. Preferably the vibration control systemincludes a reference sensor for generating a persistent signalindicative of the vibration disturbance, preferably wherein thereference sensor monitors a rotating machine member that is rotatingrelative to the structure and producing the vibrations. Preferably thecontrollable rotating force rotates at a given harmonic circular forcegenerating frequency, preferably a harmonic of a rotating machine memberthat is rotating relative to the structure and producing the vibrations.Preferably the controllable rotating force is determined and calculatedas circular force described as a real and imaginary part α and β,preferably with a circular force command signal generated with α and β.Preferably the controllable rotating force is generated with twocorotating imbalance moving masses, which are preferably controlled withimbalance phasing Φ₁, Φ₂ with the actual imbalance phasing Φ₁, Φ₂realizing the commanded α, β circular force.

In an embodiment the invention includes a vibration control system forcontrolling a vibration on a structure responsive to a vibrationdisturbance at a given frequency, said vibration control systemincluding a circular force generator for creating a controllablerotating force with a controllable magnitude and controllable magnitudephase, said vibration control system including a vibration sensor forgenerating a vibration signal indicative of said vibration of saidstructure, said vibration control system including a controller thatreceives said vibration signal from said vibration sensor and commandssaid circular force generator to create said rotating force wherein suchvibration of said structure sensed by said sensor is reduced.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary of the invention, andare intended to provide an overview or framework for understanding thenature and character of the invention as it is claimed. The accompanyingdrawings are included to provide a further understanding of theinvention, and are incorporated in and constitute a part of thisspecification. The drawings illustrate various embodiments of theinvention, and together with the description serve to explain theprincipals and operation of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A-B illustrates methods/systems for controlling helicoptervibrations.

FIG. 2 illustrates methods/systems for controlling helicopter vibrationswith a communications bus and CFGs (Circular Force Generators) producingrotating force with controlled rotating force magnitude and controlledrotating force phase.

FIG. 3 illustrates circular force generation with two co-rotatingimbalanced rotors creating a circular force with controllable magnitudeand phase.

FIG. 4 illustrates Circular Force Generators (CFGs) with co-rotatingimbalanced rotors.

FIG. 5A-G illustrates CFGs (Circular Force Generators) for producingrotating force with controlled rotating force magnitude and controlledrotating force phase.

FIG. 6A-F illustrates methods/systems with multiple oriented CircularForce Generators (CFGs).

FIG. 7A-E illustrates helicopter systems/methods for controllingvibration with control accelerometer sensors and CFGs located, mountedand oriented relative to a helicopter floor, sidewall, roof, and vehicleframes.

FIG. 8 illustrates helicopter Active Vibration Control with CFGs(Circular Force Generators) mounted on helicopter transmissions.

FIG. 9 illustrates a CFG (Circular Force Generator) with internalbearings, imbalance masses, motors, rotating mass sensor targets andsensors.

FIG. 10 illustrates methods/systems with multiple Circular ForceGenerators (CFGs) and accelerometers.

FIG. 11A-G illustrate CFGs (Circular Force Generators) with motor drivenmaster rotating mass imbalance rotors and slave rotating mass imbalancerotors.

FIG. 12A-C illustrate CFGs (Circular Force Generators) with masterrotating mass imbalance rotors and slave rotating mass imbalance rotors.

FIG. 13A-D illustrates methods/systems for controlling helicoptervibrations with a rotating Hub Mounted Vibration control System (HMVS),a communications bus and CFGs (Circular Force Generators).

FIG. 14 illustrates methods/systems for controlling helicoptervibrations with a HMVS, a communications bus and CFGs (Circular ForceGenerators).

FIG. 15 illustrates methods/systems for controlling helicoptervibrations with a HMVS, a communications bus and CFGs (Circular ForceGenerators).

FIG. 16 illustrates methods/systems for controlling helicoptervibrations with a HMVS, a communications bus and CFGs (Circular ForceGenerators).

FIG. 17 illustrates methods/systems for controlling helicoptervibrations with a HMVS, a communications bus and CFGs (Circular ForceGenerators) with a distributed master system control authority.

FIG. 18 illustrates methods/systems for controlling helicoptervibrations with a Dual Frequency HMVS, a communications bus and CFGs(Circular Force Generators).

FIG. 19A-B illustrates methods/systems for controlling helicoptervibrations with a communications bus and actuators.

FIG. 20A-C illustrates a dual frequency Hub Mounted Vibration controlSystem (HMVS) with a 3P frequency stage and a 5P frequency stage.

FIG. 21 illustrates a dual frequency Hub Mounted Vibration controlSystem (HMVS).

FIG. 22A-B illustrates HMVS imbalance rotors for generating a firstrotating net force vector and a second rotating net force vector.

FIG. 23A-C illustrates dual frequency (3P and 5P) Hub Mounted Vibrationcontrol System (HMVS) control convergence properties, 3P and 5P rotorposition commands, 3P and 5P tones.

FIG. 24A-B illustrates methods/systems for controlling helicoptervibrations with a dual frequency HMVS with 3 Rev and 5 Rev control.

FIG. 25A-C illustrates dual frequency (3P and 5P) HMVS for a helicopterrotor head.

FIG. 26A-B illustrates a single frequency (3P) HMVS for a helicopterrotor head.

FIG. 27A-B illustrates a dual frequency HMVS for a helicopter rotorhead.

FIG. 28A-D illustrates HMVS imbalance rotors for generating twofrequencies.

FIG. 29 illustrates HMVS control methods/systems.

FIG. 30A-B illustrates a dual frequency HMVS on a helicopter rotor head.

FIG. 31 illustrates an imbalance rotor with an imbalance massconcentration.

FIG. 32 illustrates an imbalance rotor with an imbalance massconcentration.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

Additional features and advantages of the invention will be set forth inthe detailed description which follows, and in part will be readilyapparent to those skilled in the art from that description or recognizedby practicing the invention as described herein, including the detaileddescription which follows, the claims, as well as the appended drawings.

Reference will now be made in detail to the present preferredembodiments of the invention, examples of which are illustrated in theaccompanying drawings.

In an embodiment the invention includes a rotary wing aircraft vehicle,the vehicle having a nonrotating vehicle structure frame body and arotating machine member, the vehicle including a vehicle vibrationcontrol system, the vehicle vibration control system including a vehiclevibration control system controller. The vehicle includes a vehiclerotating machine member sensor for inputting vehicle rotating machinemember data correlating to the relative rotation of the vehicle rotatingmachine member rotating relative to the nonrotating vehicle body intothe vehicle vibration control system controller. The vehicle includes atleast a first nonrotating vehicle body vibration sensor, the at leastfirst nonrotating vehicle body vibration sensor inputting at least firstnonrotating vehicle body vibration sensor data correlating to vehiclevibrations into the vehicle vibration control system controller. Thevehicle includes at least a first nonrotating vehicle body circularforce generator, the at least a first nonrotating vehicle body circularforce generator fixedly coupled with the nonrotating vehicle body, theat least first nonrotating vehicle body circular force generatorcontrolled by the controller to produce a rotating force with acontrollable rotating force magnitude and a controllable rotating forcephase, the controllable rotating force magnitude controlled from aminimal force magnitude up to a maximum force magnitude, and with thecontrollable rotating force phase controlled in reference to the vehiclerotating machine member sensor data correlating to the relative rotationof the vehicle rotating machine member rotating relative to thenonrotating vehicle body wherein the vehicle vibration sensed by the atleast first nonrotating vehicle body vibration sensor is reduced.

In an embodiment the rotary wing aircraft vehicle 520 includes anonrotating vehicle body 524, preferably the helicopter structure frame,and a rotating machine member 522, preferably the helicopter rotatingrotary wing hub. The rotating vehicle machine member 522 producesvibrations, with vibration disturbances at a vibration frequency, in thenonrotating vehicle body 524. The rotating machine member 522 rotatingrelative to the vehicle body 524 and producing troublesome vibrations inthe vehicle body 524. The vehicle 520 includes a vehicle vibrationcontrol system 409, the vehicle vibration control system 409 including avehicle vibration control system controller 411. Preferably the vehiclevibration control system controller 411 is comprised of at least onecomputer with inputs and outputs and at least one computer processor,with the vehicle vibration control system controller computer system forreducing vibrations preferably including computer media and utilizingcomputer programs with computer program instructions. Preferably thecontroller operates on one or more electronic devices connected andintegrated together and communicating with each other. In an embodimentsuch as illustrated in FIG. 2, controller 411 operates within the systemcontroller electronic devices and with the electronic modules(E-Modules) communicating through the communications bus. The vehicle520 includes a vehicle rotating machine member sensor 552 for inputtingvehicle rotating machine member data correlating to the relativerotation of the vehicle rotating machine member 522 rotating relative tothe nonrotating vehicle body 524 into the vehicle vibration controlsystem controller, preferably a tach output from a tachometer sensor 524with tach inputs inputted into the controller 411. Preferably thevehicle rotating machine member sensor 552 is a reference sensor forgenerating a persistent signal indicative of the vibration disturbance,and senses a harmonic of the rotating speed of the rotating vehiclemachine member 522 producing vibrations in the vehicle.

The vehicle 520 includes at least a first nonrotating vehicle bodyvibration sensor 554, the at least first nonrotating vehicle bodyvibration sensor 554 inputting at least first nonrotating vehicle bodyvibration sensor data correlating to vehicle vibrations into the vehiclevibration control system controller 411, preferably the vibrationsensors 554 are accelerometers coupled to the vehicle nonrotating bodysuch that the accelerometers senses the vibrations and output vibrationssignals into the vibration controller 411.

The vehicle 520 includes at least a first nonrotating vehicle bodycircular force generator 530, the at least a first nonrotating vehiclebody circular force generator 530 fixedly coupled with the nonrotatingvehicle body 524 with the at least first nonrotating vehicle bodycircular force generator controlled by the controller 411 to produce arotating force with a controllable rotating force magnitude and acontrollable rotating force phase, the controllable rotating forcemagnitude controlled from a minimal force magnitude up to a maximumforce magnitude. Preferably the at least a first nonrotating vehiclebody circular force generator 530 is mechanically mounted to the framestructure body 524 of the vehicle 520 wherein the produced rotatingforce is transferred there into it with the controllable rotating forcephase controlled in reference to the vehicle rotating machine membersensor data correlating to the relative rotation of the vehicle rotatingmachine member rotating relative to the nonrotating vehicle body (tachinput) wherein the vehicle vibration sensed by the at least firstnonrotating vehicle body vibration sensor is reduced. In preferredembodiments this includes producing 0 magnitude forces with 180° massseparations and maximum force magnitude with 0° mass separationcontrolled by the controller 411. Vibration is preferably reduced at afrequency correlating to rotating machine member 522, with vibrationspreferably reduced at harmonics of the rotating machine member.Preferably methods include controlling harmonic vibrations of therotating machine member with the generated rotating force emanating fromthe circular force generator 530, preferably the circular forcegenerator 530 driving rotating moving masses at a harmonic of thevehicle rotating machine member. Preferably the system 409 generatesrotating force as compared to linear component force, with the rotatingforce rotating at a harmonic of the vehicle rotating machine member 522,and preferably the rotating force phase is controlled relative to avehicle rotating machine member sensor persistent signal harmonicreference tachometer sine wave preferably utilized in the systemcontroller 411 obtained from a sensor 552 input.

Preferably the vehicle 520 includes n nonrotating vehicle body vibrationsensors 554 and m nonrotating vehicle body circular force generators 530wherein n>m. Preferably the rotating force is controlled to rotate at avibration disturbance frequency, that is a harmonic of the rotatingmachine member 522 rotating speed with the system 409 and methodsproducing circular forces and not specifically or intentionallycontrolled to produce linear forces. Preferably the methods/systemspreferably inhibit and avoid calculating linear forces and outputtingsuch. Preferably the vehicle vibration control system controller 411generates a rotating reference signal from the vehicle rotating machinemember data correlating to the relative rotation of the vehicle rotatingmachine member rotating relative to the nonrotating vehicle body.Preferably the vehicle vibration control system controller 411calculates in reference to the rotating reference signal the rotatingforce with a real part α and an imaginary part β. Preferably thesystems/methods avoid and inhibit calculating linear forces forcontrolling the vibration, and preferably the vibration control system409 controller 411 includes a vibe control subsystem (such as VibeControl—FIG. 1B) which calculates real parts α_(m) and imaginary partsβ_(m) in generating circular force command signals whichcommand/describe desired rotating force vectors, such circular forcecommand signals α_(m) β_(m) are preferably sent to rotor phase computersubsystem (such as Rotor Phase Compute—FIG. 1B) which in turn preferablycomputes mass phase signals, which are preferably sent to motorcontrol/motor drive subsystem (such as Motor Control/Motor Drive—FIG.1B) which generates motor drive signals that drive rotating massesaround their circular paths, preferably with motor drive signals thatdrive the masses to generate the circular forces.

Preferably the vehicle 520 includes at least first nonrotating vehiclebody circular force generator 530 including at least a first rotatingmass (mass₁ _(_) ₁) 534 controllably driven about a first rotating massaxis 534′ with a first rotating mass controllable rotating imbalancephase Φ₁ _(_) ₁ and at least a second corotating mass (mass₁ _(_) ₂) 536controllably driven about a second rotating mass axis 536′ with a secondrotating mass controllable rotating imbalance phase Φ₁ _(_) ₂. As shownin FIG. 3, preferably axes 534′ and 536′ are overlapping, with the first((mass_(m) _(_) ₁) and second mass (mass_(m) _(_) ₂) (with m wholenumber equal to or greater than one) adjacent each other, preferablywith duplicate mass arcs of duplicate arcuate shape and arcuate sizeoriented about the overlapping axes. Preferably the duplicate mass arcsof duplicate arcuate shape and arcuate size oriented about theoverlapping axes adjacent each other, are preferably unnested rotatingmasses. The rotating mass arc preferably has an outer circumferencecurvature and an inner circular circumference curvature, and a center ofmass. The circular force generator 530 preferably has two of therotating mass arcs, with each rotating mass arc having a center of massand a mass line going normal from the center of mass to its rotatingmass axis providing a center of mass rotation axis track line,preferably with the first and second rotating mass arcs center of massrotation axis track lines not crossing or intersecting but parallel, andpreferably approximately adjacent.

Preferably the vehicle 520 includes n nonrotating vehicle body vibrationsensors 554 and m nonrotating vehicle body circular force generators 530wherein n>m and (with in whole number equal to or greater than one).Preferably the vehicle vibration control system controller 411 generatesa rotating reference signal from the vehicle rotating machine memberdata correlating to the relative rotation of the vehicle rotatingmachine member 522 rotating relative to the nonrotating vehicle body524. Preferably the first nonrotating vehicle body circular forcegenerator 530 includes the first rotating mass (mass₁ _(_) ₁) 534controllably driven about a first rotating mass axis 534′ with a firstrotating mass controllable rotating imbalance phase Φ₁ _(_) ₁ and asecond corotating mass (mass₁ _(_) ₂) 536 controllably driven about asecond rotating mass axis 536′ with a second rotating mass controllablerotating imbalance phase Φ₁ _(_) ₂, the imbalance phase Φ₁ _(_) ₁ andthe imbalance phase Φ₁ _(_) ₂ controlled in reference to the rotatingreference signal. Preferably the m^(th) nonrotating vehicle bodycircular force generator 530 including a first rotating mass (mass_(m)_(_) ₁) 534 controllably driven about a first rotating mass axis 534′with a first rotating mass controllable rotating imbalance phase Φ_(m)_(_) ₁ and a second corotating mass (mass_(m) _(_) ₂) 536 controllablydriven about a second rotating mass axis 536′ with a second rotatingmass controllable rotating imbalance phase Φ_(m) _(_) ₂, the imbalancephase Φ_(m) _(_) ₁ and the imbalance phase Φ_(m) _(_) ₂ controlled inreference to the rotating reference signal, preferably the rotatingreference signal based on the tach input of the rotating machine rotorhead member 522.

Preferably the first nonrotating vehicle body circular force generator530 includes a first rotating mass (mass₁ _(_) ₁) 534 with a firstrotating mass controllable rotating imbalance phase Φ₁ _(_) ₁ and asecond corotating mass (mass₁ _(_) ₂) 536 with a second rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₂. Preferably the firstrotating mass (mass₁ _(_) ₁) is driven with a first motor and the secondcorotating mass (mass₁ _(_) ₂) is driven with a second motor. As shownin FIG. 5, nonrotating vehicle body circular force generator 530preferably includes the first rotating mass (mass₁ _(_) ₁) 534 is drivenwith a first motor 538 and the second corotating mass (mass₁ _(_) ₂) 536is driven with a second motor 540.

Preferably the first nonrotating vehicle body circular force generator530 includes a first rotating mass (mass₁ _(_) ₁) 534 with a firstrotating mass controllable rotating imbalance phase Φ₁ _(_) ₁ and asecond corotating mass (mass₁ _(_) ₂) 536 with a second rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₂, with a detent 576linking between the first rotating mass (mass_(m) _(_) ₁) and the secondcorotating mass (mass_(m) _(_) ₂), and a single motor for driving thefirst rotating mass (mass_(m) _(_) ₁), wherein the first rotating mass(mass_(m) _(_) ₁) comprises a master rotating mass (mass_(m) _(_) ₁)with a master rotating mass controllable rotating imbalance phase Φ₁_(_) ₁, and the second corotating mass (mass_(m) _(_) ₂) comprises aslave corotating mass (mass_(m) _(_) ₂) with a slave rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₂ with the detent 576controlling the slave rotating mass controllable rotating imbalancephase Φ₁ _(_) ₂ relative to the master rotating mass controllablerotating imbalance phase Φ₁ _(_) ₁. As illustrated in FIG. 11,preferably one motor 571″ with motor windings 571 drives both the masterrotating mass 574 and the slave rotating mass 574. The motor windings571 drive a motor rotor 571′ supported by bearings 572 with that motorrotor coupled with the master rotating mass imbalance rotor 574 (firstrotating mass 534) with the second slave rotating mass imbalance rotor573 coupled with the master rotor 574 with bearing 575 and detent 576wherein the phase between the two rotors can be adjusted withcontrollably forcing slippage across the detent 576. Preferably therotors are magnetically detented with a plurality of distributed magnetscoupling the two rotors together, preferably with motor torque pulsescontrollably clocking the relative phases of the imbalance phases tocontrol force magnitude with slipping of the detents 576. In embodimentsdetents 576 include magnetically detented magnets on magnets detent andmagnets on steel. In embodiments the rotors are mechanically detentedsuch as with mechanical ball detent, quill detent, and frictioninterface detent, preferably with elastomeric detents, preferably withengaging surface effect elastomers. FIG. 12 illustrates furtherembodiments of detented master and slave rotating masses. As shown inFIG. 12A-B, the master slave rotating mass rotor is preferablycompliantly coupled and driven by the motor 571″, preferably with acompliance member 576′. Preferably a compliance, preferably a compliancemember 576′, is provided between the motor and the master rotorimbalance. In preferred embodiments the compliance member 576′ is aspring member. As shown in FIG. 12A, the compliance member 576′ is anelastomeric spring member, preferably an elastomeric tubeform compliancemember. As shown in FIG. 12B, the compliance member 576′ is a magneticdetent spring and bearing member, preferably with the magnetic detentswith lower step resolution than the above existing detents 576 betweenthe master and slave rotating mass rotors or preferably with themagnetic detents with higher step maximum torque than the above existingdetents 576 between the master and slave rotating mass rotors. Inadditional embodiments the compliance member 576′ is a metal springmember, such as a spoke style metal spring, or other flexing metalspring member. In additional embodiments the compliance member 576′ is atorsional spring member. Preferably the compliance member 576′ isprovided between the motor 571″ and the master rotating imbalance rotorand then the detent 576 is provided between the compliant masterrotating imbalance mass and the detented slave rotor. FIG. 12C show thedetent torque versus relative angular displacement for two detents.

Preferably the vehicle 520 includes n nonrotating vehicle body vibrationsensors 554 and m nonrotating vehicle body circular force generators530, with m≧2 and wherein n>m. Preferably the vehicle vibration controlsystem controller 411 calculates a rotating reference signal from thevehicle rotating machine member data correlating to the relativerotation of the vehicle rotating machine member 522 rotating relative tothe nonrotating vehicle body 524, and the first nonrotating vehicle bodycircular force generator 530 includes a first rotating mass (mass₁ _(_)₁) 534 controllably driven about a first circular force generator axis530′ with a first rotating mass controllable rotating imbalance phase Φ₁_(_) ₁ and a second corotating mass (mass₁ _(_) ₂) 536 controllablydriven about the first circular force generator axis 530′ with a secondrotating mass controllable rotating imbalance phase Φ₁ _(_) ₂, with theimbalance phase Φ₁ _(_) ₁ and the imbalance phase Φ₁ _(_) ₂ controlledin reference to the rotating reference signal. The vehicle 520 includesa second nonrotating vehicle body circular force generator 530 includinga first rotating mass (mass₂ _(_) ₁) 534 controllably driven about asecond circular force generator axis 530″ with a first rotating masscontrollable rotating imbalance phase Φ₂ _(_) ₁ and a second corotatingmass (mass₂ _(_) ₂) 536 controllably driven about the second circularforce generator axis 530″ with a second rotating mass controllablerotating imbalance phase Φ₂ _(_) ₂, with the imbalance phase Φ₂ _(_) ₁and the imbalance phase Φ₂ _(_) ₂ controlled in reference to therotating reference signal, the second nonrotating vehicle body circularforce generator 530 oriented relative to the first nonrotating vehiclebody circular force generator 530 wherein the second circular forcegenerator axis 530″ is nonparallel with the first circular forcegenerator axis 530′. In a preferred embodiment the second nonrotatingvehicle body circular force generator 530 oriented relative to the firstnonrotating vehicle body circular force generator 530 wherein the secondcircular force generator axis 530″ is oriented orthogonally with thefirst circular force generator axis 530′. Preferably m≧3, and a thirdnonrotating vehicle body circular force generator 530 first rotatingmass (mass₃ _(_) ₁) 534 is controllably driven about a third circularforce generator axis 530′″ with a first rotating mass controllablerotating imbalance phase Φ₃ _(_) ₁ and a second corotating mass (mass₃_(_) ₂) 536 is controllably driven about the third circular forcegenerator axis 530′″ with a second rotating mass controllable rotatingimbalance phase Φ₃ _(_) ₂, with the imbalance phase Φ₃ _(_) ₁ and theimbalance phase Φ₃ _(_) ₂ controlled in reference to the rotatingreference signal, the third circular force generator axis orientedrelative to the second circular force generator axis 530″ and the firstcircular force generator axis 530′. In preferred embodiments the axis530′, 530″, 530′″ are nonparallel, and more preferably are orientedorthogonally. In embodiments at least two circular force generator axesare parallel, and preferably at least one nonparallel, preferablyorthogonal. FIG. 6 illustrate embodiments of circular force generatoraxis 530′, 530″, 530′″, 530″″ orientation. In embodiments preferably thethree axis 530′, 530″, 530′″ form a three-dimensional basis wherebycontrollable force components are created in three dimensions.

Preferably the vehicle 520 is a rotary wing aircraft with a vehicleceiling and a vehicle floor. Preferably the vehicle nonrotating vehiclebody 524 includes a vehicle ceiling 544 and a distal vehicle floor 546,the distal vehicle floor below 546 the vehicle ceiling 544 under normalparking, use and flight of the vehicle in the presence of gravity.Preferably the vehicle 520 includes n nonrotating vehicle body vibrationsensors 554 and m nonrotating vehicle body circular force generators 530with n>m. The vehicle vibration control system controller 411 calculatesa rotating reference signal from the vehicle rotating machine memberdata correlating to the relative rotation of the vehicle rotatingmachine member 522 rotating relative to the nonrotating vehicle body524. The first nonrotating vehicle body circular force generator 530includes a first rotating mass (mass₁ _(_) ₁) 534 controllably drivenabout a first rotating mass axis 534′ with a first rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₁ and a second corotatingmass (mass₁ _(_) ₂) 536 controllably driven about a second rotating massaxis 536′ with a second rotating mass controllable rotating imbalancephase Φ₁ _(_) ₂, the imbalance phase Φ₁ _(_) ₁ and the imbalance phaseΦ₁ _(_) ₂ controlled in reference to the rotating reference signal, thefirst nonrotating vehicle body circular force generator mounted to thevehicle body 524 proximate the vehicle ceiling 544. The vehicle withnonrotating vehicle body circular force generator 530 including a firstrotating mass (mass_(m) _(_) ₁) 534 controllably driven about a firstrotating mass axis 534′ with a first rotating mass controllable rotatingimbalance phase Φ_(m) _(_) ₁ and a second corotating mass (mass_(m) _(_)₂) 536 controllably driven about a second rotating mass axis 536′ with asecond rotating mass controllable rotating imbalance phase Φ_(m) _(_) ₂,the imbalance phase Φ_(m) _(_) ₁ and the imbalance phase Φ_(m) _(_) ₂controlled in reference to the rotating reference signal, the m^(th)nonrotating vehicle body circular force generator mounted to the vehiclebody 524 proximate the vehicle floor 546. Preferably a plurality ofcircular force generators 530 are mounted to the vehicle body frame 524proximate the floor 546, and preferably under the floor 546, andpreferably proximate the vehicle nose, and preferably proximate thevehicle tail. Preferably a plurality of circular force generators 530are mounted to the vehicle body frame 524 proximate the ceiling 544, andpreferably above the ceiling 544, preferably proximate the vehicle tail,preferably mounted to a vehicle tailcone frame. FIG. 7 illustrates avehicle vibration control system 409 with two force generators 530mounted to the tailcone frame 7 proximate the ceiling 544 of ahelicopter 520 and with two circular force generators 530 mounted underthe floor 546 in the nose of the helicopter below the pilot and copilotarea and with two circular force generators 530 mounted under the floor546 to the helicopter frame 5. Preferably the two circular forcegenerators 530 are mounted to the frame as shown in FIG. 7B with shearmounts as shown in FIG. 7D. In an embodiment the two circular forcegenerators 530 in the nose area are mounted under the floor with basemounts as shown in FIG. 7E. In an embodiment such as illustrated in FIG.7C, preferably a first forward controller 411 (1 FG Controller) controlsthe two circular force generators 530 which are mounted under the floorin the forward of the vehicle and a second aft controller 411 (2 FGController) controls the four circular force generators 530 mountedproximate the aft of the vehicle.

Preferably the vehicle 520 includes a vehicle transmission 526 fortransmitting rotational power to the rotating machine member 522.Preferably vehicle engine energy force is transmitted through thetransmission 526 to the vehicle motive force propeller helicopter rotorto move it and in turn move the vehicle, preferably with thetransmission connected to rotor and transmitting rotating force to therotor so the rotor turns at the relative rotation rate to the vehiclenonrotating body. The vehicle vibration control system controller 411generates a rotating reference signal from the vehicle rotating machinemember data correlating to the relative rotation of the vehicle rotatingmachine member 522 rotating relative to the nonrotating vehicle body524. The first nonrotating vehicle body circular force generator 530including a first rotating mass (mass₁ _(_) ₁) 534 controllably drivenabout a first rotating mass axis 534′ with a first rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₁ and a second corotatingmass (mass₁ _(_) ₂) 536 controllably driven about a second rotating massaxis 536′ with a second rotating mass controllable rotating imbalancephase Φ₁ _(_) ₂, the imbalance phase Φ₁ _(_) ₁ and the imbalance phaseΦ₁ _(_) ₂ controlled in reference to the rotating reference signal, thefirst nonrotating vehicle body circular force generator 530 mounted tothe vehicle transmission 526. In an embodiment a plurality ofnonrotating vehicle body circular force generators 530 are mounted tothe transmission 526, and preferably the transmission is above the floor546 and ceiling 544. FIG. 8 illustrates embodiments with nonrotatingvehicle body circular force generators 530 mounted to the vehicletransmissions 526, preferably with the circular force generator axis530′ oriented relative to the rotation axis of the rotating machinemember 522, most preferably with the circular force generator axis 530′oriented parallel with the rotating machine member rotor hub axis ofrotation.

FIG. 5 illustrates preferred embodiments of a nonrotating vehicle bodycircular force generator 530 including first rotating mass (mass₁ _(_)₁) 534 controllably driven about a first rotating mass axis 534′ colinedwith circular force generator axis 530′ rotated by motor 538 (with thenonrotating motor winding preferably between the rotating motor rotorand the rotating mass 534) with first rotating mass controllablerotating imbalance phase Φ₁ _(_) ₁ and a second corotating mass (mass₁_(_) ₂) 536 controllably driven about a second rotating mass axis 536′colined with circular force generator axis 530′ rotated by motor 540(with the nonrotating motor winding preferably between the rotatingmotor rotor and the rotating mass 536) with first rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₂. Preferably anonrotating vehicle body circular force generator circuit board 550 ispositioned between the first rotating mass (mass₁ _(_) ₁) 534 and thesecond corotating mass (mass₁ _(_) ₂) 536, preferably a substantiallyplanar is disposed and aligned between the rotating masses and motors,preferably with the circuit board comprised of a sealed circuit boardwith a sealed exterior overcoating, preferably with the circuit boardplane oriented substantially normal to the circular force generator axis530′ with the board preferably equal distances between the firstrotating mass (mass₁ _(_) ₁) 534 and the second corotating mass (mass₁_(_) ₂) 536. Preferably the circular force generator circuit board 550extends with an electric lead end into an electronic housing, with theelectric lead end connecting the circuit board with at least a firstsystem connector with the outside and the controller 411 and the system409. Preferably the circuit board includes wiring paths to the motorwindings and to first and second rotating mass sensors 548 mounted onthe circuit board 550. The first and second rotating mass sensors 548mounted on the circuit board monitor the rotational position of therotating mass sensor target 556 on the rotor being driven by the motors538, 540 such that the controller 411 knows the rotational phaseposition of the rotating masses 534, 536, in preferred embodiments thefirst and second rotating mass sensors 548 are comprised of Hall sensorintegrated sensor chips for sensing the rotation of a magnetic rotatingmass sensor target 556 to provide out through the circuit board to thesystem controller the rotational position of the rotating mass. In anembodiment the rotating moving mass electronic noncontacting magneticsensor 548 preferably comprises an integrated circuit semiconductorsensor chip which outputs through the circuit board 550 into the system409 and controller 411 the rotational angle phase position of therotating moving mass that the sensor target 556 is coupled with that themotor driven by the controller is driving. In a preferred embodiment theelectronic noncontacting magnetic sensor integrated circuitsemiconductor sensor chip has at least two dies, preferably the at leasttwo dies are ASICs (Application Specific Integrated. Circuits), in apreferred embodiment the at least two dies are side by side dies in theintegrated circuit semiconductor sensor chip, in a preferred embodimentthe at least two dies are vertically stacked dies in the integratedcircuit semiconductor sensor chip. In a preferred embodiment theintegrated circuit semiconductor sensor chip ASIC die include amagnetoresistive material, preferably with electrical resistance changesin the presence of the magnetic target magnetic field of target 556,preferably with magnetoresistive elements arranged in a Wheatstonebridge. In a preferred embodiment the integrated circuit semiconductorsensor chip ASIC die include a Hall Effect element, preferably aplurality of oriented Hall Effect elements, preferably siliconsemiconductor Hall effect elements which detect the magnetic targetmagnetic field of target 556. The first electronic noncontactingmagnetic sensor 548 sensor plane is integrated substantially normal tothe circular force generator axis 530′. The second electronicnoncontacting magnetic sensor 548 second sensor plane is integratedsubstantially normal to the circular force generator axis 530′.Preferably the motor driven rotor includes a fan magnetic coupling drivefor driving air cooling fans, preferably with the magnetic couplingdrive provided with a magnetic coupling drive ratio to drive the fan ata predetermined fan speed, preferably such as a 4/rev to provide forcedair cooling of the force generator 530. FIG. 9 illustrates a furtherembodiment of a circular force generator axis 530′ with the circuitboard 550 oriented between the motor driven imbalance masses 534 and 536with circuit board mounted axis oriented sensor plane chips 548 trackingthe rotational position of the motor driven imbalance masses 534 and536.

FIG. 10 illustrates a further vibration control system with a blockdiagram with six circular force generators 530 controlled by acontroller 411 with a plurality of accelerometer nonrotating bodyvibration sensors 554 and an engine tachometer input sensor 552 for therotating machine member sensor for inputting vehicle rotating machinemember data correlating to the relative rotation of the vehicle rotatingmachine member rotating relative to the nonrotating vehicle body intothe vehicle vibration control system controller. The vehicle vibrationcontrol system controller 411 controls the rotation of the corotatingmasses rotating about circular force generator axes (530′, 530″, . . . ,530″″″) to create the controllable rotating forces which rotationallyemanate out from the nonrotating vehicle body circular force generators530 to reduces the vehicle vibrations sensed by the nonrotating bodyvibration sensors 554.

In embodiments the vehicle 520 is a helicopter with the vehicle rotatingmachine member 522 the helicopter rotating rotary wing hub above thenonrotating vehicle body helicopter fuselage frame below, and thehelicopter rotating rotary wing hub includes hub mounted vibrationcontrol system 20 with at least a first hub mounted motor driven hubmass and at least a second hub mounted motor driven hub mass housedwithin a hub housing 30, with the mounted vibration control system 20 atleast a first hub mounted motor driven hub mass and at least a secondhub mounted motor driven hub mass driven to rotate relative to therotary wing hub while the system 409 generates rotating forces in thebody 524 with the circular force generators 530.

Preferably the circular force generator 530 includes at least a firstrotating externally housed cooling fan having a rotation motion forcooling said circular force generator, said cooling fan rotation motionlinked with the rotation of said rotating force. Preferably the circularforce generator 530 includes at least a first rotating externally housedcooling fan having a rotation motion for cooling the circular forcegenerator 530, the cooling fan rotation motion linked with a rotation ofsaid first rotating mass (mass₁ _(_) ₁) or said second corotating mass(mass₁ _(_) ₂). Preferably the circular force generator 530 includes amagnetically coupled forced air cooling fan magnetically coupled to therotation of the mass rotor within the generator housing such that noexternal power is needed to rotate the fan, preferably with a pluralityof spaced magnets providing a rotation coupling to power the fanrotation.

In an embodiment the invention includes a vehicle vibration controlsystem for controlling troublesome vibrations in a nonrotating vehiclebody having a rotating machine member. The vehicle vibration controlsystem including a vehicle vibration control system controller. Thevehicle vibration control system including a rotating machine membersensor, for inputting vehicle rotating machine member data correlatingto a relative rotation of the rotating machine member rotating relativeto the nonrotating body into the vehicle vibration control systemcontroller. The vehicle vibration control system including at least afirst nonrotating vehicle body vibration sensor, the at least firstnonrotating vehicle body vibration sensor inputting at least firstnonrotating vehicle body vibration sensor data correlating to vehiclevibrations into the vehicle vibration control system controller. Thevehicle vibration control system including at least a first nonrotatingvehicle body circular force generator, the at least a first nonrotatingvehicle body circular force generator for fixedly mounting to thenonrotating vehicle body wherein the at least first nonrotating vehiclebody circular force generator is controlled by the controller to producea rotating force with a controllable rotating force magnitude and acontrollable rotating force phase, the controllable rotating forcemagnitude controlled from a minimal force magnitude up to a maximumforce magnitude, and with the controllable rotating force phasecontrolled in reference to the vehicle rotating machine member sensordata correlating to the relative rotation of the vehicle rotatingmachine member rotating relative to the nonrotating vehicle body withthe vehicle vibration sensed by the at least first nonrotating vehiclebody vibration sensor reduced by the controller.

The vehicle vibration control system 409 includes a rotary wing aircraftvehicle vibration control system for controlling troublesome vibrationsin a nonrotating vehicle body 524 having a rotating machine member 522,preferably the aircraft vehicle structure frame. Preferably the rotatingvehicle machine member rotating component 522 producing vibrations andthe vibration disturbance at a vibration frequency in the nonrotatingvehicle body 524 is preferably the aircraft rotating rotary wing hub.The vehicle vibration control system 409 includes a vehicle vibrationcontrol system controller 411 with a vehicle vibration control systemprocessor, with a computer processor with inputs and outputs, and withthe control system preferably comprised of multiple connectedsubsystems. The system includes a vehicle rotating machine member sensor552, for inputting vehicle rotating machine member data correlating to arelative rotation of the vehicle rotating machine member rotatingrelative to the nonrotating vehicle body (tach input) into the vehiclevibration control system controller. Preferably the rotating machinemember sensor 552 is a reference sensor for generating a persistentsignal indicative of the vibration disturbance, and preferably senses aharmonic of the rotating speed of the rotating vehicle machine member522 producing vibrations, and in preferred embodiments is a tachometersensor providing a tach input. The system includes at least a firstnonrotating vehicle body vibration sensor 554, the at least firstnonrotating vehicle body vibration sensor inputting at least firstnonrotating vehicle body vibration sensor data correlating to vehiclevibrations into the vehicle vibration control system controller,preferably with the system having a plurality of vibration sensors 554distributed throughout the body 524, and in preferred embodiments thesensors 554 are accelerometers providing accel inputs. The systemincludes at least a first nonrotating vehicle body circular forcegenerator 530, the at least a first nonrotating vehicle body circularforce generator 530 for fixedly mounting to the nonrotating vehicle body524 wherein the at least first nonrotating vehicle body circular forcegenerator 530 is controlled by the controller 411 to produce a rotatingforce with a controllable rotating force magnitude and a controllablerotating force phase, the controllable rotating force magnitudecontrolled from a minimal force magnitude up to a maximum forcemagnitude, (preferably 0 magnitude force when masses have a 180°separation opposed position) (preferably maximum force magnitude whenmasses have a 0° separation position), and with the controllablerotating force phase controlled in reference to the vehicle rotatingmachine member sensor data correlating to the relative rotation of thevehicle rotating machine member rotating relative to the nonrotatingvehicle body (preferably in reference to the tach input) with thevehicle vibration sensed by the at least first nonrotating vehicle bodyvibration sensor reduced by the controller. Preferably the systemincludes a plurality of nonrotating vehicle body circular forcegenerators 530 controlled by the controller 411 to produce a pluralityof rotating forces with the vibration preferably reduced at a frequencycorrelating to rotating machine member 522, with troublesome vibrationsin the body 524 preferably reduced at harmonics of rotating machinemember 522, preferably with the method and system controlling harmonicvibrations of the rotating machine member 522 with the generatedrotating forces emanating from the circular force generators 530,preferably with the circular force generators driven rotating movingmasses 534 and 536 rotated at a harmonic of the vehicle rotating machinemember 522. Preferably the system includes n nonrotating vehicle bodyvibration sensors 554 and m nonrotating vehicle body circular forcegenerators 530 wherein n>m. Preferably wherein the rotating forcesgenerates are controlled by the controller 411 to rotate at a harmonicof the rotating machine member 522 rotating speed, preferably with thesystem/method producing circular forces and not calculating for orintentionally producing linear forces, with the method/system preferablyinhibiting and avoiding calculating linear forces and outputting such.

Preferably the vehicle vibration control system controller generates arotating reference signal from the vehicle rotating machine member datacorrelating to the relative rotation of the vehicle rotating machinemember rotating relative to the nonrotating vehicle body. Preferably thevehicle vibration control system controller 411 calculates in referenceto a rotating reference signal the rotating force to be generated with areal part α and an imaginary part β. Preferably the vibe controlsubsystem calculates real parts α_(m) and imaginary parts β_(m) ingenerating circular force command signals which command/describe desiredrotating force vectors, such circular force command signals α_(m) β_(m)are preferably sent to the rotor phase compute subsystem which in turnpreferably computes mass phase signals, which are preferably sent to themotor control/motor drive subsystem which generates motor drive signalsthat drive the masses around their rotating circular paths, preferablymotor drive signals that drive the masses to generate the circularforces preferably motor drive signals for motors 538, 540 to drive themasses 534, 536.

Preferably the at least first nonrotating vehicle body circular forcegenerator 530 including at least a first rotating mass (mass₁ _(_) ₁)534 controllably driven about a first rotating mass axis 534′ with afirst rotating mass controllable rotating imbalance phase Φ₁ _(_) ₁ andat least a second corotating mass (mass₁ _(_) ₂) 536 controllably drivenabout a second rotating mass axis 536′ with a second rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₂, preferably with theaxes are overlapping, with masses adjacent each other, preferablyduplicate mass arcs of duplicate arcuate shape and arcuate size orientedabout the overlapping axes. Preferably the system includes n nonrotatingvehicle body vibration sensors 554 and m nonrotating vehicle bodycircular force generators 530 with n>m, the vehicle vibration controlsystem controller generating a rotating reference signal from thevehicle rotating machine member data correlating to the relativerotation of the vehicle rotating machine member 522 rotating relative tothe nonrotating vehicle body 524, and the first nonrotating vehicle bodycircular force generator 530 includes a first rotating mass (mass₁ _(_)₁) 534 controllably driven about a first rotating mass axis 534′ with afirst rotating mass controllable rotating imbalance phase Φ₁ _(_) ₁ anda second corotating mass (mass₁ _(_) ₂) 536 controllably driven about asecond rotating mass axis 536′ with a second rotating mass controllablerotating imbalance phase Φ₁ _(_) ₂, the imbalance phase Φ₁ _(_) ₁ andthe imbalance phase Φ₁ _(_) ₂ controlled in reference to the rotatingreference signal. Preferably the m^(th) nonrotating vehicle bodycircular force generator 530 includes a first rotating mass (mass_(m)_(_) ₁) 534 controllably driven about a first rotating mass axis 534′with a first rotating mass controllable rotating imbalance phase Φ_(m)_(_) ₁ and a second corotating mass (mass_(m) _(_) ₂) 536 controllablydriven about a second rotating mass axis 536′ with a second rotatingmass controllable rotating imbalance phase Φ_(m) _(_) ₂, the imbalancephase Φ_(m) _(_) ₁ and the imbalance phase Φ_(m) _(_) ₂ controlled inreference to the rotating reference signal.

Preferably the first nonrotating vehicle body circular force generator530 includes a first rotating mass (mass₁ _(_) ₁) 534 with a firstrotating mass controllable rotating imbalance phase Φ₁ _(_) ₁ and asecond corotating mass (mass₁ _(_) ₂) 536 with a second rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₂. Preferably the firstrotating mass (mass₁ _(_) ₁) 534 is driven with a first motor 538 andthe second corotating mass (mass₁ _(_) ₂) is driven with a second motor540.

Preferably the first nonrotating vehicle body circular force generator530 includes a first rotating mass (mass₁ _(_) ₁) 534 with a firstrotating mass controllable rotating imbalance phase Φ₁ _(_) ₁ and asecond corotating mass (mass₁ _(_) ₂) 536 with a second rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₂ with a detent 576linking between the first rotating mass (mass_(m) _(_) ₁) and the secondcorotating mass (mass_(m) _(_) ₂), and a single motor for driving thefirst rotating mass (mass_(m) _(_) ₁), wherein the first rotating mass(mass_(m) _(_) ₁) comprises a master rotating mass (mass_(m) _(_) ₁)with a master rotating mass controllable rotating imbalance phase Φ₁_(_) ₁, and the second corotating mass (mass_(m) _(_) ₂) comprises aslave corotating mass (mass_(m) _(_) ₂) with a slave rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₂ with the detentcontrolling the slave rotating mass controllable rotating imbalancephase Φ₁ _(_) ₂ relative to the master rotating mass controllablerotating imbalance phase Φ₁ _(_) ₁.

Preferably the system includes n nonrotating vehicle body vibrationsensors 554 and m nonrotating vehicle body circular force generators530, with m≧2 and n>m, and preferably the vehicle vibration controlsystem controller calculates a rotating reference signal from thevehicle rotating machine member data correlating to the relativerotation of the vehicle rotating machine member 522 rotating relative tothe nonrotating vehicle body 524. The first nonrotating vehicle bodycircular force generator 530 includes a first rotating mass (mass₁ _(_)₁) 534 controllably driven about a first circular force generator axis530′ with a first rotating mass controllable rotating imbalance phase Φ₁_(_) ₁ and a second corotating mass (mass₁ _(_) ₂) 536 controllablydriven about the first circular force generator axis 530′ with a secondrotating mass controllable rotating imbalance phase Φ₁ _(_) ₂, with theimbalance phase Φ₁ _(_) ₁ and the imbalance phase Φ₁ _(_) ₂ controlledin reference to the rotating reference signal. The system includes asecond nonrotating vehicle body circular force generator 530 including afirst rotating mass (mass₂ _(_) ₁) 534 controllably driven about asecond circular force generator axis 530″ with a first rotating masscontrollable rotating imbalance phase Φ₂ _(_) ₁ and a second corotatingmass (mass₂ _(_) ₂) 536 controllably driven about the second circularforce generator axis 530″ with a second rotating mass controllablerotating imbalance phase Φ₂ _(_) ₂, with the imbalance phase Φ₂ _(_) ₁and the imbalance phase Φ₂ _(_) ₂ controlled in reference to therotating reference signal, with the second nonrotating vehicle bodycircular force generator 530 oriented relative to the first nonrotatingvehicle body circular force generator 530 wherein the second circularforce generator axis 530″ is nonparallel with the first circular forcegenerator axis 530′. In preferred embodiments the axes 530′ and 530″ areoriented orthogonally. Preferably m≧3, and a third nonrotating vehiclebody circular force generator 530 including a first rotating mass (mass₃_(_) ₁) 534 controllably driven about a third circular force generatoraxis 530′″ with a first rotating mass controllable rotating imbalancephase Φ₃ _(_) ₁ and a second corotating mass (mass₃ _(_) ₂) 536controllably driven about the third circular force generator axis 530′″with a second rotating mass controllable rotating imbalance phase Φ₃_(_) ₂, with the imbalance phase Φ₃ _(_) ₁ and the imbalance phase Φ₃_(_) ₂ controlled in reference to the rotating reference signal, thethird circular force generator axis oriented relative to the secondcircular force generator axis and the first circular force generatoraxis.

Preferably the system provides for the placement of nonrotating vehiclebody circular force generators 530 proximate the vehicle ceiling andfloor. Preferably the vehicle nonrotating vehicle body 524 includes avehicle ceiling 544 and a distal vehicle floor 546, the distal vehiclefloor below 546 the vehicle ceiling 544 under normal parking, use andflight of the vehicle in the presence of gravity. Preferably the systemincludes n nonrotating vehicle body vibration sensors 554 and mnonrotating vehicle body circular force generators 530 with n>m. Thevehicle vibration control system controller 411 calculates a rotatingreference signal from the vehicle rotating machine member datacorrelating to the relative rotation of the vehicle rotating machinemember 522 rotating relative to the nonrotating vehicle body 524. Thefirst nonrotating vehicle body circular force generator 530 includes afirst rotating mass (mass₁ _(_) ₁) 534 controllably driven about a firstrotating mass axis 534′ with a first rotating mass controllable rotatingimbalance phase Φ₁ _(_) ₁ and a second corotating mass (mass₁ _(_) ₂)536 controllably driven about a second rotating mass axis 536′ with asecond rotating mass controllable rotating imbalance phase Φ₁ _(_) ₂,the imbalance phase Φ₁ _(_) ₁ and the imbalance phase Φ₁ _(_) ₂controlled in reference to the rotating reference signal, the firstnonrotating vehicle body circular force generator 530 preferablyprovided for mounting to the vehicle body 524 proximate the vehicleceiling 544. The vehicle m^(th) nonrotating vehicle body circular forcegenerator 530 including a first rotating mass (mass_(m) _(_) ₁) 534controllably driven about a first rotating mass axis 534′ with a firstrotating mass controllable rotating imbalance phase Φ_(m) _(_) ₁ and asecond corotating mass (mass_(m) _(_) ₂) 536 controllably driven about asecond rotating mass axis 536′ with a second rotating mass controllablerotating imbalance phase Φ_(m) _(_) ₂, the imbalance phase Φ_(m) _(_) ₁and the imbalance phase Φ₁ _(_) ₂ controlled in reference to therotating reference signal, the m^(th) nonrotating vehicle body circularforce generator 530 preferably provided for mounting to the vehicle body524 proximate the vehicle floor 546. Preferably a plurality of circularforce generators 530 are provided for mounting to the vehicle body frame524 proximate the floor 546, and preferably under the floor 546, andpreferably proximate the vehicle nose, and preferably proximate thevehicle tail. Preferably a plurality of circular force generators 530are preferably provided for mounting to the vehicle body frame 524proximate the ceiling 544, and preferably above the ceiling 544,preferably proximate the vehicle tail, preferably to a vehicle tailconeframe.

Preferably the system includes controlling vehicle transmission 526vibrations. Preferably the vehicle vibration control system controller411 generates a rotating reference signal from the vehicle rotatingmachine member data correlating to the relative rotation of the vehiclerotating machine member 522 rotating relative to the nonrotating vehiclebody 524. The first nonrotating vehicle body circular force generator530 including a first rotating mass (massy) 534 controllably drivenabout a first rotating mass axis 534′ with a first rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₁ and a second corotatingmass (mass₁ _(_) ₂) 536 controllably driven about a second rotating massaxis 536′ with a second rotating mass controllable rotating imbalancephase Φ₁ _(_) ₂, the imbalance phase Φ₁ _(_) ₁ and the imbalance phaseΦ₁ _(_) ₂ controlled in reference to the rotating reference signal, thefirst nonrotating vehicle body circular force generator 530 mounted tothe vehicle transmission 526. In an embodiment a plurality ofnonrotating vehicle body circular force generators 530 are mounted tothe transmission 526, and preferably the transmission is above the floor546 and ceiling 544. Preferably the nonrotating vehicle body circularforce generators 530 are mounted to the vehicle transmissions 526,preferably with the circular force generator axis 530′ oriented relativeto the rotation axis of the rotating machine member 522, most preferablywith the circular force generator axis 530′ oriented parallel with therotating machine member rotor hub axis of rotation.

In an embodiment the invention includes a method of controllinghelicopter vibrations. The method includes providing a nonrotatinghelicopter body below a rotating helicopter rotor member. The methodincludes providing a vibration control system controller. The methodincludes providing a rotating helicopter rotor member sensor forinputting rotating member data correlating to a relative rotation of therotating member rotating relative to the nonrotating body into thevibration control system controller. The method includes providing atleast a first nonrotating body vibration sensor, the at least firstnonrotating vehicle body vibration sensor inputting at least firstnonrotating body vibration sensor data correlating to vehicle vibrationsinto the vibration control system controller. The method includesproviding at least a first nonrotating vehicle body circular forcegenerator. The method includes coupling the at least first nonrotatingvehicle body circular force generator to the nonrotating helicopterbody. The method includes controlling with the controller the coupled atleast first nonrotating vehicle body circular force generator to producea rotating force upon the nonrotating helicopter body with acontrollable rotating force magnitude and a controllable rotating forcephase, the controllable rotating force magnitude controlled from aminimal force magnitude up to a maximum force magnitude, and with thecontrollable rotating force phase controlled in reference to therotating member sensor data correlating to the relative rotation of therotating member rotating relative to the nonrotating body with thevibration sensed by the at least first nonrotating vehicle bodyvibration sensor reduced by the controller.

The method of controlling helicopter vibrations includes providing anonrotating helicopter body 524 below a rotating helicopter rotor member522, preferably the helicopter rotating rotary wing hub. The methodpreferably includes providing a vehicle vibration control systemcontroller 411, preferably with control system subsystems communicatingwithin the vibration control system 409. The method preferably includesproviding a vehicle rotating helicopter rotor member sensor 552, forinputting vehicle rotating member data correlating to a relativerotation of the vehicle rotating member rotating relative to thenonrotating vehicle body (preferably a tach input) into the vibrationcontrol system controller 411. The method preferably includes providingat least a first nonrotating body vibration sensor 554, the at leastfirst nonrotating vehicle body vibration sensor inputting at least firstnonrotating body vibration sensor data correlating to vibrations intothe vibration control system controller 411. The method preferablyincludes providing at least a first nonrotating vehicle body circularforce generator 530. The method preferably includes coupling the atleast first nonrotating vehicle body circular force generator 530 to thenonrotating helicopter body 524. The method preferably includescontrolling with the controller 411 the coupled at least firstnonrotating vehicle body circular force generator 530 to produce arotating force upon the nonrotating helicopter body 524 with acontrollable rotating force magnitude and a controllable rotating forcephase, the controllable rotating force magnitude controlled from aminimal force magnitude up to a maximum force magnitude (preferably 0magnitude force when masses 180° separation opposed position and maximumforce magnitude when masses 0° separation), and with the controllablerotating force phase controlled in reference to the rotating membersensor data correlating to the relative rotation of the rotating member522 rotating relative to the nonrotating body 524 with the vibrationsensed by the at least first nonrotating vehicle body vibration sensor554 reduced by the controller 411.

The method preferably includes providing then nonrotating vehicle bodyvibration sensors 554 and m nonrotating vehicle body circular forcegenerators 530 with n>m.

The method preferably includes the controlling of the rotating force torotate at a harmonic of the rotating machine member rotating speed,preferably with the system/method producing circular forces whileavoiding the calculation and generation of linear forces.

The method preferably includes generating a rotating reference signalfrom the vehicle rotating machine member data correlating to therelative rotation of the vehicle rotating machine member 522 rotatingrelative to the nonrotating vehicle body 524.

The method preferably includes calculating, with the controller, inreference to a rotating reference signal, the rotating force with a realpart α and an imaginary part β. Preferably the method avoids andinhibits calculating linear forces for controlling the vibrations,preferably with the vibe control subsystem calculating real parts α_(m)and imaginary parts β_(m) in generating circular force command signalswhich command/describe desired rotating force vectors, such circularforce command signals α_(m) β_(m) are preferably sent to the rotor phasecompute subsystem which in turn preferably computes mass phase signals,which are preferably sent to motor control/motor drive subsystem whichgenerates motor drive signals that drive the masses around theircircular paths, preferably motor drive signals that drive the masses togenerate the circular forces with the motor drive signals driving themotors 538, 540 of the circular force generator 530.

The method preferably includes providing the at least first nonrotatingvehicle body circular force generator 530 with at least a first rotatingmass (mass₁ _(_) ₁) 534 controllably driven about a first rotating massaxis 534′ with a first rotating mass controllable rotating imbalancephase Φ₁ _(_) ₁ and at least a second corotating mass (mass₁ _(_) ₂) 536controllably driven about a second rotating mass axis 536′ with a secondrotating mass controllable rotating imbalance phase Φ₁ _(_) ₂.

The method preferably includes providing then nonrotating vehicle bodyvibration sensors 554 and m nonrotating vehicle body circular forcegenerators 530 with n>m, with the vehicle vibration control systemcontroller 411 generating a rotating reference signal from the vehiclerotating machine member data correlating to the relative rotation of thevehicle rotating machine member rotating relative to the nonrotatingvehicle body. The first nonrotating vehicle body circular forcegenerator 530 including first rotating mass (mass₁ _(_) ₁) 534controllably driven about a first rotating mass axis 534′ with a firstrotating mass controllable rotating imbalance phase Φ₁ _(_) ₁ and asecond corotating mass (mass₁ _(_) ₂) 536 controllably driven about asecond rotating mass axis 536′ with a second rotating mass controllablerotating imbalance phase Φ₁ _(_) ₂, the imbalance phase Φ₁ _(_) ₁ andthe imbalance phase Φ₁ _(_) ₂ controlled in reference to the rotatingreference signal. The m^(th) nonrotating vehicle body circular forcegenerator 530 including a first rotating mass (mass_(m) _(_) ₁) 534controllably driven about a first rotating mass axis 534′ with a firstrotating mass controllable rotating imbalance phase Φ_(m) _(_) ₁ and asecond corotating mass (mass_(m) _(_) ₂) 536 controllably driven about asecond rotating mass axis 536′ with a second rotating mass controllablerotating imbalance phase Φ_(m) _(_) ₂, the imbalance phase Φ_(m) _(_) ₁and the imbalance phase Φ_(m) _(_) ₂ controlled in reference to therotating reference signal.

The method preferably includes providing the first nonrotating vehiclebody circular force generator 530 which includes the first rotating mass(mass₁ _(_) ₁) 534 with a first rotating mass controllable rotatingimbalance phase Φ₁ _(_) ₁ and the second corotating mass (mass₁ _(_) ₂)536 with a second rotating mass controllable rotating imbalance phase Φ₁_(_) ₂. Preferably the first rotating mass (mass₁ _(_) ₁) 534 is drivenwith the first motor 538 and the second corotating mass (mass₁ _(_) ₂)536 is driven with the second motor 540.

In an embodiment, preferably the circular force generator 530 whichincludes the first rotating mass (mass₁ _(_) ₁) 534 with a firstrotating mass controllable rotating imbalance phase Φ₁ _(_) ₁ and thesecond corotating mass (mass₁ _(_) ₂) 536 with a second rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₂, with a detent 576linking between the first rotating mass (mass_(m) _(_) ₁) and the secondcorotating mass (mass_(m) _(_) ₂), and a motor for driving the firstrotating mass (mass_(m) _(_) ₁), wherein the first rotating mass(mass_(m) _(_) ₁) comprises a master rotating mass (mass_(m) _(_) ₁)with a master rotating mass controllable rotating imbalance phase Φ₁_(_) ₁, and the second corotating mass (mass_(m) _(_) ₂) comprises aslave corotating mass (mass_(m) _(_) ₂) with a slave rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₂ with the detentcontrolling the slave rotating mass controllable rotating imbalancephase Φ₁ _(_) ₂ relative to the master rotating mass controllablerotating imbalance phase Φ₁ _(_) ₁.

Preferably the method includes providing the n nonrotating vehicle bodyvibration sensors 554 and m nonrotating vehicle body circular forcegenerators 530, with m≧2 and n>m, with the vehicle vibration controlsystem controller generating a rotating reference signal from thevehicle rotating machine member data correlating to the relativerotation of the vehicle rotating machine member rotating relative to thenonrotating vehicle body, with the first nonrotating vehicle bodycircular force generator 530 including a first rotating mass (mass₁ _(_)₁) 534 controllably driven about a first circular force generator axis530′ with a first rotating mass controllable rotating imbalance phase Φ₁_(_) ₁ and a second corotating mass (mass₁ _(_) ₂) 536 controllablydriven about the first circular force generator axis 530′ with a secondrotating mass controllable rotating imbalance phase Φ₁ _(_) ₂, with theimbalance phase Φ₁ _(_) ₁ and the imbalance phase Φ₁ _(_) ₂ controlledin reference to the rotating reference signal. Preferably a secondnonrotating vehicle body circular force generator 530 is providedincluding a first rotating mass (mass₂ _(_) ₁) 534 controllably drivenabout a second circular force generator axis 530″ with a first rotatingmass controllable rotating imbalance phase Φ₂ _(_) ₁ and a secondcorotating mass (mass₂ _(_) ₂) 536 controllably driven about the secondcircular force generator axis 530″ with a second rotating masscontrollable rotating imbalance phase Φ₂ _(_) ₂, with the imbalancephase Φ₂ _(_) ₁ and the imbalance phase Φ₂ _(_) ₂ controlled inreference to the rotating reference signal, with the second nonrotatingvehicle body circular force generator 530 oriented relative to the firstnonrotating vehicle body circular force generator 530 wherein the secondcircular force generator axis 530″ is nonparallel with the firstcircular force generator axis 530′. In embodiments the axes arepreferably oriented orthogonally. Preferably m≧3, and a thirdnonrotating vehicle body circular force generator 530 is providedincluding a first rotating mass (mass₃ _(_) ₁) 534 controllably drivenabout a third circular force generator axis 530′″ with a first rotatingmass controllable rotating imbalance phase Φ₃ _(_) ₁ and a secondcorotating mass (mass₁ _(_) ₂) 536 controllably driven about the thirdcircular force generator axis 530′″ with a second rotating masscontrollable rotating imbalance phase Φ₃ _(_) ₂, with the imbalancephase Φ₃ _(_) ₁ and the imbalance phase Φ₃ _(_) ₂ controlled inreference to the rotating reference signal, the third circular forcegenerator axis oriented relative to the second circular force generatoraxis and the first circular force generator axis.

Preferably the method includes mounting the circular force generatorsproximate the vehicle ceiling 544 and the floor 546. Preferably themethod mounts the nonrotating vehicle body circular force generators 530proximate the vehicle ceiling and floor. Preferably the vehiclenonrotating vehicle body 524 includes a vehicle ceiling 544 and a distalvehicle floor 546, the distal vehicle floor below 546 the vehicleceiling 544 under normal parking, use and flight of the vehicle in thepresence of gravity. Preferably n nonrotating vehicle body vibrationsensors 554 and m nonrotating vehicle body circular force generators 530are provided with n>m. The controller 411 preferably calculates arotating reference signal from the vehicle rotating machine member datacorrelating to the relative rotation of the vehicle rotating machinemember 522 rotating relative to the nonrotating vehicle body 524. Thefirst nonrotating vehicle body circular force generator 530 includes afirst rotating mass (mass₁ _(_) ₁) 534 controllably driven about a firstrotating mass axis 534′ with a first rotating mass controllable rotatingimbalance phase Φ₁ _(_) ₁ and a second corotating mass (mass₁ _(_) ₂)536 controllably driven about a second rotating mass axis 536′ with asecond rotating mass controllable rotating imbalance phase Φ₁ _(_) ₂,the imbalance phase Φ₁ _(_) ₁ and the imbalance phase Φ₁ _(_) ₂controlled in reference to the rotating reference signal, the firstnonrotating vehicle body circular force generator 530 preferably mountedto the vehicle body 524 proximate the vehicle ceiling 544. The vehiclem^(th) nonrotating vehicle body circular force generator 530 including afirst rotating mass (mass_(m) _(_) ₁) 534 controllably driven about afirst rotating mass axis 534′ with a first rotating mass controllablerotating imbalance phase Φ_(m) _(_) ₁ and a second corotating mass(mass_(m) _(_) ₂) 536 controllably driven about a second rotating massaxis 536′ with a second rotating mass controllable rotating imbalancephase Φ_(m) _(_) ₂, the imbalance phase Φ_(m) _(_) ₁ and the imbalancephase Φ_(m) _(_) ₂ controlled in reference to the rotating referencesignal, the m^(th) nonrotating vehicle body circular force generator 530mounted to the vehicle body 524 proximate the vehicle floor 546.Preferably a plurality of circular force generators 530 are mounted tothe vehicle body frame 524 proximate the floor 546, and preferably underthe floor 546, and preferably proximate the vehicle nose, and preferablyproximate the vehicle tail. Preferably a plurality of circular forcegenerators 530 are mounted to the vehicle body frame 524 proximate theceiling 544, and preferably above the ceiling 544, preferably proximatethe vehicle tail, preferably to a vehicle tailcone frame.

Preferably the method includes controlling vehicle transmission 526vibrations. Preferably the vehicle vibration control system controller411 generates a rotating reference signal from the vehicle rotatingmachine member data correlating to the relative rotation of the vehiclerotating machine member 522 rotating relative to the nonrotating vehiclebody 524. The first nonrotating vehicle body circular force generator530 including a first rotating mass (mass₁ _(_) ₁) 534 controllablydriven about a first rotating mass axis 534′ with a first rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₁ and a second corotatingmass (mass₁ _(_) ₂) 536 controllably driven about a second rotating massaxis 536′ with a second rotating mass controllable rotating imbalancephase Φ₁ _(_) ₂, the imbalance phase Φ₁ _(_) ₁ and the imbalance phaseΦ₁ _(_) ₂ controlled in reference to the rotating reference signal,method including mounting the first nonrotating vehicle body circularforce generator 530 to the vehicle transmission 526. In an embodiment aplurality of nonrotating vehicle body circular force generators 530 aremounted to the transmission 526, and preferably the transmission isabove the floor 546 and ceiling 544. Preferably the nonrotating vehiclebody circular force generators 530 are mounted to the vehicletransmissions 526, preferably with the circular force generator axis530′ oriented relative to the rotation axis of the rotating machinemember 522, most preferably with the circular force generator axis 530′oriented parallel with the rotating machine member rotor hub axis ofrotation.

In an embodiment the invention includes a method of controllingvibrations. The method includes providing a nonrotating structure bodyhaving a rotating machine member. The method includes providing avibration control system controller. The method includes providing arotating machine member sensor, for inputting rotating member datacorrelating to a relative rotation of the rotating member rotatingrelative to the nonrotating body into the vibration control systemcontroller. The method includes providing at least a first nonrotatingbody vibration sensor, the at least first nonrotating body vibrationsensor inputting at least first nonrotating body vibration sensor datacorrelating to vibrations into the vibration control system controller.The method includes providing at least a first nonrotating body circularforce generator. The method includes coupling the at least firstnonrotating vehicle body circular force generator to the nonrotatingstructure body. The method includes controlling with the controller thecoupled at least first nonrotating body circular force generator toproduce a rotating force with a controllable rotating force magnitudeand a controllable rotating force phase, the controllable rotating forcemagnitude controlled from a minimal force magnitude up to a maximumforce magnitude, and with the controllable rotating force phasecontrolled relative to the rotating member sensor data correlating tothe relative rotation of the rotating member rotating relative to thenonrotating body with the vibration sensed by the at least firstnonrotating vehicle body vibration sensor reduced by the controller.

The method of controlling vibrations, includes providing nonrotatingstructure body 524 having a rotating machine member 522. The methodincludes providing vibration control system controller 411 with avibration control system processor, a computer with inputs and outputs,to control the control system preferably with communicating subsystems.The method includes providing the rotating machine member sensor 552 forinputting rotating member data correlating to a relative rotation of thevehicle rotating member rotating relative to the nonrotating vehiclebody (preferably a tach input) into the vibration control systemcontroller 411. The method includes providing the nonrotating bodyvibration sensors 554, the first nonrotating body vibration sensors 554inputting at vibration sensor data correlating to vehicle vibrationsinto the vehicle vibration control system controller 411. The methodincludes providing at least a first nonrotating vehicle body circularforce generator 530. The method includes coupling the nonrotatingvehicle body circular force generator 530 to the nonrotating structurebody 524. The method includes controlling with the controller 411 thecoupled at least first nonrotating body circular force generators 530 toproduce rotating forces with controllable rotating force magnitude andcontrollable rotating force phase, the controllable rotating forcemagnitude controlled from a minimal force magnitude up to a maximumforce magnitude (0 magnitude force when masses 180° separation opposedposition, maximum force magnitude when masses 0° separation), and withthe controllable rotating force phase controlled relative to therotating member sensor data correlating to the relative rotation of therotating member rotating relative to the nonrotating body (tach input)with the vibration sensed by the at least first nonrotating vehicle bodyvibration sensor reduced by the controller 411.

The method includes providing then nonrotating vehicle body vibrationsensors and m nonrotating vehicle body circular force generators whereinn>m.

The method includes controlling the rotating force to rotate at aharmonic of the rotating machine member rotating speed.

The method includes generating a rotating reference signal from thevehicle rotating machine member data correlating to the relativerotation of the vehicle rotating machine member rotating relative to thenonrotating vehicle body. The method preferably includes calculating inreference to a rotating reference signal the rotating force with a realpart α and an imaginary part β. Preferably the method avoids andinhibits calculating linear forces for controlling vibrations,preferably with vibe control subsystem, preferably within the controller411, calculating real parts α_(m) and imaginary parts β_(m) ingenerating circular force command signals which command/describe desiredrotating force vectors, such circular force command signals α_(m) β_(m)are preferably sent to the rotor phase compute subsystem which in turnpreferably computes mass phase signals, which are preferably sent tomotor control/motor drive subsystem which generates motor drive signalsthat drive the masses around their circular paths, preferably motordrive signals that drive the motors 538, 540 that drive the masses 534,536 to generate the circular forces.

Preferably providing the at least first nonrotating vehicle bodycircular force generators 530 includes providing the at least firstrotating mass (mass₁ _(_) ₁) 534 controllably driven about a firstrotating mass axis 534′ with a first rotating mass controllable rotatingimbalance phase Φ₁ _(_) ₁ and the at least second corotating mass (mass₁_(_) ₂) 536 controllably driven about second rotating mass axis 536′with a second rotating mass controllable rotating imbalance phase Φ₁_(_) ₂.

Preferably n nonrotating vehicle body vibration sensors 554 and mnonrotating vehicle body circular force generators 530 with n>m areprovided, the first nonrotating vehicle body circular force generator530 including first rotating mass (mass₁ _(_) ₁) 534 controllably drivenabout a first rotating mass axis 534′ with a first rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₁ and second corotatingmass (mass₁ _(_) ₂) 536 controllably driven about a second rotating massaxis 536′ with a second rotating mass controllable rotating imbalancephase Φ₁ _(_) ₂, the imbalance phase Φ₁ _(_) ₁ and the imbalance phaseΦ₁ _(_) ₂ controlled in reference to a rotating reference signal, andthe m^(th) nonrotating vehicle body circular force generator 530including first rotating mass (mass_(m) _(_) ₁) 534 controllably drivenabout a first rotating mass axis 534′ with a first rotating masscontrollable rotating imbalance phase Φ_(m) _(_) ₁ and a secondcorotating mass (mass_(m) _(_) ₂) 536 controllably driven about a secondrotating mass axis 536′ with a second rotating mass controllablerotating imbalance phase Φ_(m) _(_) ₂, the imbalance phase Φ_(m) _(_) ₁and the imbalance phase Φ_(m) _(_) ₂ controlled in reference to therotating reference signal.

Preferably the method includes providing nonrotating vehicle bodycircular force generators 530 with the first rotating mass (mass₁ _(_)₁) 534 with a first rotating mass controllable rotating imbalance phaseΦ₁ _(_) ₁ and a second corotating mass (mass₁ _(_) ₂) 536 with a secondrotating mass controllable rotating imbalance phase Φ₁ _(_) ₂.Preferably the method includes providing the motor 538 with the firstrotating mass (mass₁ _(_) ₁) 534 driven with the first motor 538 andproviding the second motor 540 with the second corotating mass (mass₁_(_) ₂) 536 driven with the second motor 540.

Preferably the method includes providing nonrotating vehicle bodycircular force generators 530 with the first rotating mass (mass₁ _(_)₁) 534 with a first rotating mass controllable rotating imbalance phaseΦ₁ _(_) ₁ and a second corotating mass (mass₁ _(_) ₂) 536 with a secondrotating mass controllable rotating imbalance phase Φ₁ _(_) ₂ with adetent 576 linking between the first rotating mass (mass_(m) _(_) ₁) andthe second corotating mass (mass_(m) _(_) ₂), and a motor for drivingthe first rotating mass (mass_(m) _(_) ₁), wherein the first rotatingmass (mass_(m) _(_) ₁) comprises a master rotating mass (mass_(m) _(_)₁) with a master rotating mass controllable rotating imbalance phase Φ₁_(_) ₁, and the second corotating mass (mass_(m) _(_) ₂) comprises aslave corotating mass (mass_(m) _(_) ₂) with a slave rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₂ with the detentcontrolling the slave rotating mass controllable rotating imbalancephase Φ₁ _(_) ₂ relative to the master rotating mass controllablerotating imbalance phase Φ₁ _(_) ₁ with the one motor driving both,preferably magnetically detented.

Preferably the method includes providing the n nonrotating vehicle bodyvibration sensors 554 and m nonrotating vehicle body circular forcegenerators 530, with m≧2 and n>m, with the vehicle vibration controlsystem controller generating a rotating reference signal from thevehicle rotating machine member data correlating to the relativerotation of the vehicle rotating machine member rotating relative to thenonrotating vehicle body, with the first nonrotating vehicle bodycircular force generator 530 including a first rotating mass (mass₁ _(_)₁) 534 controllably driven about a first circular force generator axis530′ with a first rotating mass controllable rotating imbalance phase Φ₁_(_) ₁ and a second corotating mass (mass₁ _(_) ₂) 536 controllablydriven about the first circular force generator axis 530′ with a secondrotating mass controllable rotating imbalance phase Φ₁ _(_) ₂, with theimbalance phase Φ₁ _(_) ₁ and the imbalance phase Φ₁ _(_) ₂ controlledin reference to the rotating reference signal. Preferably a secondnonrotating vehicle body circular force generator 530 is providedincluding a first rotating mass (mass₂ _(_) ₁) 534 controllably drivenabout a second circular force generator axis 530″ with a first rotatingmass controllable rotating imbalance phase Φ₂ _(_) ₁ and a secondcorotating mass (mass₂ _(_) ₂) 536 controllably driven about the secondcircular force generator axis 530″ with a second rotating masscontrollable rotating imbalance phase Φ₂ _(_) ₂, with the imbalancephase Φ₂ _(_) ₁ and the imbalance phase Φ₂ _(_) ₂ controlled inreference to the rotating reference signal, with the second nonrotatingvehicle body circular force generator 530 oriented relative to the firstnonrotating vehicle body circular force generator 530 wherein the secondcircular force generator axis 530″ is nonparallel with the firstcircular force generator axis 530′. In embodiments the axes arepreferably oriented orthogonally. Preferably m≧3, and a thirdnonrotating vehicle body circular force generator 530 is providedincluding a first rotating mass (mass₃ _(_) ₁) 534 controllably drivenabout a third circular force generator axis 530′″ with a first rotatingmass controllable rotating imbalance phase Φ₃ _(_) ₁ and a secondcorotating mass (mass₃ _(_) ₂) 536 controllably driven about the thirdcircular force generator axis 530′″ with a second rotating masscontrollable rotating imbalance phase Φ₃ _(_) ₂, with the imbalancephase Φ₃ _(_) ₁ and the imbalance phase Φ₃ _(_) ₂ controlled inreference to the rotating reference signal, the third circular forcegenerator axis oriented relative to the second circular force generatoraxis and the first circular force generator axis.

Preferably the method includes mounting the circular force generatorsproximate the vehicle ceiling 544 and the floor 546. Preferably themethod mounts the nonrotating vehicle body circular force generators 530proximate the vehicle ceiling and floor. Preferably the vehiclenonrotating vehicle body 524 includes a vehicle ceiling 544 and a distalvehicle floor 546, the distal vehicle floor below 546 the vehicleceiling 544 under normal parking, use and flight of the vehicle in thepresence of gravity. Preferably n nonrotating vehicle body vibrationsensors 554 and m nonrotating vehicle body circular force generators 530are provided with n>m. The controller 411 preferably calculates arotating reference signal from the vehicle rotating machine member datacorrelating to the relative rotation of the vehicle rotating machinemember 522 rotating relative to the nonrotating vehicle body 524. Thefirst nonrotating vehicle body circular force generator 530 includes afirst rotating mass (mass₁ _(_) ₁) 534 controllably driven about a firstrotating mass axis 534′ with a first rotating mass controllable rotatingimbalance phase Φ₁ _(_) ₁ and a second corotating mass (mass₁ _(_) ₂)536 controllably driven about a second rotating mass axis 536′ with asecond rotating mass controllable rotating imbalance phase Φ₁ _(_) ₂,the imbalance phase Φ₁ _(_) ₁ and the imbalance phase Φ₁ _(_) ₂controlled in reference to the rotating reference signal, the firstnonrotating vehicle body circular force generator 530 preferably mountedto the vehicle body 524 proximate the vehicle ceiling 544. The vehiclem^(th) nonrotating vehicle body circular force generator 530 including afirst rotating mass (mass_(m) _(_) ₁) 534 controllably driven about afirst rotating mass axis 534′ with a first rotating mass controllablerotating imbalance phase Φ_(m) _(_) ₁ and a second corotating mass(mass_(m) _(_) ₂) 536 controllably driven about a second rotating massaxis 536′ with a second rotating mass controllable rotating imbalancephase Φ_(m) _(_) ₂, the imbalance phase Φ_(m) _(_) ₁ and the imbalancephase Φ_(m) _(_) ₂ controlled in reference to the rotating referencesignal, the m^(th) nonrotating vehicle body circular force generator 530mounted to the vehicle body 524 proximate the vehicle floor 546.Preferably a plurality of circular force generators 530 are mounted tothe vehicle body frame 524 proximate the floor 546, and preferably underthe floor 546, and preferably proximate the vehicle nose, and preferablyproximate the vehicle tail. Preferably a plurality of circular forcegenerators 530 are mounted to the vehicle body frame 524 proximate theceiling 544, and preferably above the ceiling 544, preferably proximatethe vehicle tail, preferably to a vehicle tailcone frame.

Preferably the method includes controlling vehicle transmission 526vibrations. Preferably the vehicle vibration control system controller411 generates a rotating reference signal from the vehicle rotatingmachine member data correlating to the relative rotation of the vehiclerotating machine member 522 rotating relative to the nonrotating vehiclebody 524. The first nonrotating vehicle body circular force generator530 including a first rotating mass (mass₁ _(_) ₁) 534 controllablydriven about a first rotating mass axis 534′ with a first rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₁ and a second corotatingmass (mass₁ _(_) ₂) 536 controllably driven about a second rotating massaxis 536′ with a second rotating mass controllable rotating imbalancephase Φ₁ _(_) ₂, the imbalance phase Φ₁ _(_) ₁ and the imbalance phaseΦ₁ _(_) ₂ controlled in reference to the rotating reference signal,method including mounting the first nonrotating vehicle body circularforce generator 530 to the vehicle transmission 526. In an embodiment aplurality of nonrotating vehicle body circular force generators 530 aremounted to the transmission 526, and preferably the transmission isabove the floor 546 and ceiling 544. Preferably the nonrotating vehiclebody circular force generators 530 are mounted to the vehicletransmissions 526, preferably with the circular force generator axis530′ oriented relative to the rotation axis of the rotating machinemember 522, most preferably with the circular force generator axis 530′oriented parallel with the rotating machine member rotor hub axis ofrotation.

In an embodiment the invention includes a computer program product for avibration control system. The computer program product comprising acomputer readable medium. The computer program product comprisingprogram instructions to monitor rotating machine member data correlatingto a relative rotation of a rotating machine member rotating relative toa nonrotating body structure. The computer program product comprisingprogram instructions to monitor nonrotating body structure vibrationsensor data correlating to nonrotating body structure vibrations. Thecomputer program product comprising program instructions to control acircular force generator mounted to the nonrotating body structure tocontrol the circular force generator to output into the nonrotating bodystructure a rotating force with a controllable rotating force magnitudecontrolled from a minimal force magnitude up to a maximum forcemagnitude and a controllable rotating force phase controlled inreference to the monitored rotating machine member data to minimizenonrotating body structure vibrations.

Preferably the vibration control system computer program productincludes a computer readable medium and first program instructions tomonitor rotating machine member data correlating to a relative rotationof the rotating machine member 522 rotating relative to a nonrotatingbody structure 524. Preferably the vibration control system computerprogram product includes second program instructions to monitornonrotating body structure vibration sensor data correlating tononrotating body structure vibrations. Preferably the vibration controlsystem computer program product includes third program instructions tocontrol a circular force generator 530 mounted to the nonrotating bodystructure 524 to control the circular force generator 530 to output intothe nonrotating body structure 524 a rotating force with a controllablerotating force magnitude controlled from a minimal force magnitude up toa maximum force magnitude and a controllable rotating force phasecontrolled in reference to the monitored rotating machine member data tominimize nonrotating body structure vibrations.

Preferably the second program instructions to monitor nonrotating bodystructure vibration sensor data correlating to nonrotating bodystructure vibrations include instructions to monitor a plurality ofnonrotating vehicle body vibration sensors' outputs from a plurality ofnonrotating vehicle body vibration sensors 554 distributed about thenonrotating body structure 524.

Preferably the third program instructions to control the circular forcegenerator 530 include rotating the rotating force at a harmonicvibration disturbance frequency which is a harmonic of the rotatingmachine member rotating speed.

Preferably the third program instructions to control the circular forcegenerator 530 include instructions to calculate in reference to therotating machine member 522 the rotating force with a real part α and animaginary part β.

Preferably the program instructions avoid and inhibit calculating linearforces for controlling vibration.

Preferably vibe control subsystem includes instructions for calculatingreal parts α_(m) and imaginary parts β_(m) in generating circular forcecommand signals which command/describe desired rotating force vectors,and instructions for sending such circular force command signals α_(m)β_(m) to rotor phase compute subsystem which in turn preferably includesinstructions for computing mass phase signals, which are preferablyincludes instructions for sending such mass phase signals to the motorcontrol/motor drive subsystem which generates motor drive signals thatdrive the masses around their circular paths, preferably motor drivesignals that drive the masses to generate the circular forces.

Preferably the system includes instructions for rotating the rotatingforce at a harmonic vibration disturbance frequency which is a harmonicof the rotating machine member rotating speed.

Preferably the system includes instructions for controlling rotation ofthe first rotor mass 534 and a rotation of the second rotor mass 536.

In an embodiment the invention includes a computer system for reducingvibrations in a vehicle with a nonrotating body structure and a rotatingmachine member rotating relative to the nonrotating body structure. Thecomputer system comprising computer media with computer programinstructions including program instructions to monitor rotating machinemember data correlating to the relative rotation of the rotating machinemember rotating relative to the nonrotating body structure. The computersystem comprising computer media with computer program instructionsincluding program instructions to monitor nonrotating body structurevibration sensor data correlating to nonrotating body structurevibrations measured by a plurality of nonrotating vehicle body vibrationsensors. The computer system comprising computer media with computerprogram instructions including program instructions to control acircular force generator mounted to the nonrotating body structure tocontrol the circular force generator to produce a rotating force with acontrollable rotating force magnitude controlled from a minimal forcemagnitude up to a maximum force magnitude and a controllable rotatingforce phase controlled in reference to the monitored rotating machinemember data to minimize nonrotating body structure vibrations measuredby the plurality of nonrotating vehicle body vibration sensors.

Preferably the computer system for reducing vibrations in the vehicle520 with nonrotating body structure 524 and the rotating machine member522 rotating relative to the nonrotating body structure 524 includescomputer media with computer program instructions including firstprogram instructions to monitor rotating machine member data correlatingto the relative rotation of the rotating machine member 522 rotatingrelative to the nonrotating body structure 524. The system includessecond program instructions to monitor nonrotating body structurevibration sensor data correlating to nonrotating body structurevibrations measured by a plurality of nonrotating vehicle body vibrationsensors 554. The system third program instructions to control a circularforce generator 530 mounted to the nonrotating body structure 524 tocontrol the circular force generator 530 to produce a rotating forcewith a controllable rotating force magnitude controlled from a minimalforce magnitude up to a maximum force magnitude and a controllablerotating force phase controlled in reference to the monitored rotatingmachine member data to minimize nonrotating body structure vibrationsmeasured by the plurality of nonrotating vehicle body vibration sensors554.

Preferably the system includes program instructions to rotate therotating force at a harmonic vibration disturbance frequency which is aharmonic of the rotating machine member rotating speed.

Preferably the system includes program instructions to control thecircular force generator 530 and to calculates in reference to therotating machine member 522 the rotating force with a real part α and animaginary part β.

Preferably the system includes program instructions to control thecircular force generator 530 and to generate a plurality of circularforce command signals, preferably with the vibe control subsystemgenerating circular force command signals which command/describe desiredrotating force vectors, the circular force command signals α_(m) β_(m)are preferably sent to rotor phase compute subsystem.

Preferably the system includes program instructions to control thecircular force generator 530 and to generate a plurality of mass phasesignals (Φ_(m) _(_) ₁, Φ_(m) _(_) ₂, rotating mass controllable rotatingimbalance phase signals Φ_(m) _(_) ₁ Φ_(m) _(_) ₂, and imbalance phaseΦ_(m) _(_) ₁ and imbalance phase Φ_(m) _(_) ₂ controlled in reference torotating machine member reference signal, preferably rotor phase computesubsystem receives circular force command signals α_(m) β_(m), andgenerates the mass phase signals Φ_(m) _(_) ₁, Φ_(m) _(_) ₂ for the twocorotating mass imbalances 534, 536).

Preferably the system includes program instructions to control thecircular force generator 530 and to generate a plurality of motor drivesignals to drive a first mass 534 and a second mass 536 (rotating masscontrollable rotating imbalance phase signals Φ_(m) _(_) ₁ Φ_(m) _(_) ₂preferably received into motor control/motor drive subsystem from rotorphase compute subsystem receives, with motor drive signals driving thecircular force generator mass imbalances 534, 536 to controllably rotateto produce the rotating force).

In an embodiment the invention includes a computer data signal. Thecomputer data signal transmitted in a vibration reducing computer systemfor a vehicle with a nonrotating body structure and a rotating machinemember rotating relative to the nonrotating body structure. The computerdata signal comprising a circular force command signal includinginformation for producing a rotating force with a controllable rotatingforce magnitude controlled from a minimal force magnitude up to amaximum force magnitude into the nonrotating body structure and acontrollable rotating force phase controlled in reference to therotating machine member to minimize nonrotating body structurevibrations in the nonrotating body structure.

Preferably the computer data signals are transmitted in the vibrationreducing computer system 409 for the vehicle 520 with the nonrotatingbody structure 524 and rotating machine member 522 rotating relative tothe nonrotating body structure 524. Preferably the computer data signalincludes a circular force command signal with information for producinga rotating force with a controllable rotating force magnitude controlledfrom a minimal force magnitude up to a maximum force magnitude into thenonrotating body structure 524 and a controllable rotating force phasecontrolled in reference to the rotating machine member 522 to minimizenonrotating body structure vibrations in the nonrotating body structure524. Preferably the vibe control subsystem generates the circular forcecommand data signals which command/describe desired rotating forcevectors, circular force command data signals α_(m) β_(m) are preferablysent to rotor phase compute subsystem. Preferably the circular forcecommand signal includes a real part α and an imaginary part β.

In an embodiment the invention includes a vibration control system forcontrolling vibration on a structure responsive to a vibrationdisturbance at a given frequency. The vibration control systempreferably includes a circular force generator for creating acontrollable rotating force with controllable magnitude and phase. Thevibration control system preferably includes a vibration sensor forgenerating a vibration signal indicative of vibration of the structure.The vibration control system preferably includes a controller thatreceives the vibration signal from the vibration sensor and commands theforce generator to create said rotating force wherein such vibration ofthe structure sensed by the sensor is reduced. Preferably the vibrationcontrol system includes multiple circular force generators and multiplevibration sensors distributed throughout the structure, most preferablywith the quantity of vibration sensors greater than the quantity ofcircular force generators. Preferably the vibration control systemincludes a reference sensor for generating a persistent signalindicative of the vibration disturbance, preferably wherein thereference sensor monitors a rotating machine member that is rotatingrelative to the structure and producing the vibrations. Preferably thecontrollable rotating force rotates at a given harmonic circular forcegenerating frequency, preferably a harmonic of a rotating machine memberthat is rotating relative to the structure and producing the vibrations.Preferably the controllable rotating force is determined and calculatedas circular force described as a real and imaginary part α and β,preferably with a circular force command signal generated with α and β.Preferably the controllable rotating force is generated with twocorotating imbalance moving masses, which are preferably controlled withimbalance phasing Φ₁, Φ₂ with the actual imbalance phasing Φ₁, Φ₂realizing the commanded α, β circular force.

Preferably the vibration control system 409 for controlling vibration onstructure 524 responsive to a vibration disturbance at a given frequencyincludes a force generator 530 for creating a controllable rotatingforce with controllable magnitude and phase, a vibration sensor 554 forgenerating a vibration signal indicative of vibration of the structure524, a controller 411 that receives the vibration signal from thevibration sensor 554 and commands the force generator 530 to create arotating force such that vibration is reduced. Preferably the systemincludes the plurality of force generator 530 and vibration sensor 554,with the number of sensors 554 greater than the number of forcegenerators 530. Preferably the system includes a reference sensor forgenerating a persistent signal indicative of the vibration disturbance.Preferably the controllable rotating force rotates at the givenfrequency.

In an embodiment the invention include a vibration control system forcontrolling a vibration on a structure responsive to a vibrationdisturbance at a given frequency, said vibration control systemincluding a circular force generator for creating a controllablerotating force with a controllable magnitude and controllable magnitudephase, said vibration control system including a vibration sensor forgenerating a vibration signal indicative of said vibration of saidstructure, said vibration control system including a controller thatreceives said vibration signal from said vibration sensor and commandssaid circular force generator to create said rotating force wherein suchvibration of said structure sensed by said sensor is reduced. Preferablythe vibration control system 409 includes a plurality of m circularforce generators 530 and a plurality n vibration sensors 554 distributedthroughout the structure 524, preferably n>m. Preferably the vibrationcontrol system 409 includes a reference sensor 552 for generating apersistent signal indicative of said vibration disturbance, preferablythe reference sensor 552 monitors a rotating machine member 522 that isrotating relative to said structure 524 and producing said vibration.Preferably the controllable rotating force rotates at a given harmoniccircular force generating frequency. Preferably the vibration controlsystem 409 includes a reference sensor 552 which monitors a rotatingmachine member 522 that is rotating relative to the structure 524, andthe given harmonic circular force generating frequency is a harmonic ofa harmonic of the monitored rotating machine member 522. Preferably thecontrollable rotating force is determined and calculated with a real andan imaginary part (α and β). Preferably a circular force command signalis generated with a real and an imaginary part (α and β). Preferably thecontrollable rotating force is generated with two corotating imbalancemoving masses 534 and 536.

The methods of controlling vibrations preferably avoids creating linearforces, and instead creates rotating forces, preferably with the methodsand systems including the calculation of rotating forces and avoidingthe calculation of linear forces. The active vibration control systemspreferably include a pair of co-rotating masses, preferably imbalancedrotors that are individually motorized or motorized as a master/slavephased pair, preferably a detented phase pair.

The vibration control actuators of the system/method create circularforces of controllable magnitude and temporal phase. Preferably systemidentification is conducted with circular forces, with parameters thatdescribe a circular force propagating thru the control algorithm of thesystems/methods. For example, as shown in FIG. 1, the parameters α and βdescribe the in-phase and out-of-phase components of a circular force.The parameters that describe a circular force are converted into tworotor phases before being sent to the motor control. The methodspreferably computationally convert rotary forces into rotor phases. Thecontrol structure using circular force generators is shown in FIG. 1,with FIG. 1B the adaptive circular force algorithm illustrating theoperation of the systems and methods. Preferably the circular forcegenerator actuators are distributed throughout the vehicle structure,with the circular force generators inputting circular forces into thevehicle nonrotating body structure to reduce vibration.

Consider two co-rotating, co-axial rotors (a circular force generator)with imbalance masses of magnitude m located at a radial distance r fromthe center of rotation. The angular positions of the masses are given byθ_(i)(t) which are measured counter-clockwise from the positive x-axis.The rotors are independently controllable but are synchronized to rotateat the same speed, ω.

The net forces in the x and y directions are:F _(x)(t)=F ₀[cos(θ₁(t))+cos(θ₂(t))]F _(y)(t)=F ₀[sin(θ₁(t))+sin(θ₂(t))]where F₀=mrω².

Since the imbalances rotate at the same speed ω but different phaseangles, their angular positions can be written as:θ₁ =ωt+φ ₁ and θ₂ =ωt+φ ₂

Because the actuator generates a circular force of varying magnitude, itis preferred to write the force output as a circular force. The angle,θ₁₂, and magnitude, F₁₂, of this force can be independently controlled.The resultant force components in the x and y directions from thiscircular force can be written as:F _(x)(t)=F ₁₂ cos(θ₁₂(t))F _(y)(t)=F ₁₂ sin(θ₁₂(t))where 0≦F₁₂≦2mrω².

The above two formulations for the resultant x and y forces areequivalent. Setting them equal, yields:α=F ₁₂ cos(φ₁₂)=F ₀[cos(φ₁)+cos(φ₂)]β=F ₁₂ sin(φ₁₂)=F ₀[sin(φ₁)+sin(φ₂)]

The new parameters, α and β, are the in-phase and out-of-phasecomponents, respectfully, of the circular force. Preferably in thesesystems/methods, these components are the values that are adapted in thegradient-descent algorithm, preferably with resulting vehicle vibrationsreduced. Adaptations are preferably conducted using these α and β forcecomponents associated with the circular force actuators.

The method/system preferably includes a saturation control algorithmmethod and system for saturation conditions when operating the circularforce generators. The maximum magnitude of the force generated by acircular actuator is limited to 2F₀. This limitation is placed withinthe LMS algorithm to prevent the forces from going beyond the limit ofwhat the actuators can deliver. The magnitude of the force from eachcircular actuator is calculated as:F ₁₂=√{square root over (α²+β²)}The force components are then limited to what the actuator can actuallyoutput using the following equations:

$\alpha_{out} = {\frac{\min\left( {F_{12,}2\; F_{0}} \right)}{F_{12}}\alpha_{i\; n}}$$\beta_{out} = {\frac{\min\left( {F_{12,}2\; F_{0}} \right)}{F_{12}}\beta_{i\; n}}$

The method/system preferably includes a computing rotor phases algorithmmethod and system for computing rotor phases when operating the circularforce generators. Preferably given alpha and beta from adaptation, thecorresponding rotor phase angles must be calculated. This calculation isdone in the [Rotor Phase Compute] block in FIG. 1. To calculate thesetwo phase angles, the following equations are preferably solved in theinverse.α=F ₀[cos(φ₁)+cos(φ₂)]β=F ₀[sin(φ₁)+sin(φ₂)]

Squaring both sides and adding the equations yields:

α² + β² = F₀²(2 + 2(cos (ϕ₁)cos (ϕ₂) + sin (ϕ₁)sin (ϕ₂)))${\alpha^{2} + \beta^{2}} = {4{F_{0}^{2}\left( {\frac{1}{2} + {\frac{1}{2}\left( {\cos\left( {\phi_{1} - \phi_{2}} \right)} \right)}} \right)}}$${\alpha^{2} + \beta^{2}} = {4F_{0}^{2}{\cos^{2}\left( \frac{\phi_{1} - \phi_{2}}{2} \right)}}$

Another equation can be found by dividing the equations as shown below:

$\frac{\beta}{\alpha} = {\frac{{\sin\left( \phi_{1} \right)} + {\sin\left( \phi_{2} \right)}}{{\cos\left( \phi_{1} \right)} + {\cos\left( \phi_{2} \right)}} = \frac{2\;{\sin\left( \frac{\phi_{1} + \phi_{2}}{2} \right)}{\cos\left( \frac{\phi_{1} - \phi_{2}}{2} \right)}}{2\;{\cos\left( \frac{\phi_{1} + \phi_{2}}{2} \right)}{\cos\left( \frac{\phi_{1} - \phi_{2}}{2} \right)}}}$$\frac{\beta}{\alpha} = {\tan\left( \frac{\phi_{1} + \phi_{2}}{2} \right)}$

Rewriting these equations gives:

${{\frac{1}{2}\begin{bmatrix}1 & {- 1} \\1 & 1\end{bmatrix}}\begin{bmatrix}\phi_{1} \\\phi_{2}\end{bmatrix}} = \begin{bmatrix}{\cos^{- 1}\frac{\sqrt{\alpha^{2} + \beta^{2}}}{2F_{0}}} \\{\tan^{- 1}\frac{\beta}{\alpha}}\end{bmatrix}$

The solution to the inverse problem is then:

$\begin{bmatrix}\phi_{1} \\\phi_{2}\end{bmatrix} = {\begin{bmatrix}1 & 1 \\{- 1} & 1\end{bmatrix}\begin{bmatrix}{\cos^{- 1}\frac{\sqrt{\alpha^{2} + \beta^{2}}}{2F_{0}}} \\{\tan^{- 1}\frac{\beta}{\alpha}}\end{bmatrix}}$

The active vibration control system preferably uses actuators with twoco-rotating imbalanced rotors, to create circular forces of controllablemagnitude and temporal phase.

In embodiments the vehicle 520 is a helicopter with the vehicle rotatingmachine member 522 the helicopter rotating rotary wing hub above thenonrotating vehicle body helicopter fuselage frame below, and thehelicopter rotating rotary wing hub includes hub mounted vibrationcontrol system (HMVS) 20 with at least a first hub mounted motor drivenhub mass and at least a second hub mounted motor driven hub mass housedwithin a hub housing 30, with the mounted vibration control system 20 atleast a first hub mounted motor driven hub mass and at least a secondhub mounted motor driven hub mass driven to rotate relative to therotary wing hub while the system 409 generates rotating forces in thebelow rotating hub helicopter aerostrueture body 524 with the circularforce generators 530. FIG. 1A-8 illustrate embodiments with helicoptershaving force generators 530 and the hub mounted vibration control system(HMVS) 20. FIG. 13A-D illustrate further preferred embodiments of therotary wing aircraft vehicle vibration control system with the circularforce generators 530 and the hub mounted vibration control system 20with a communication bus (COM. BUS) 150 for preferably communicating andsending data, control system functions and functionality signals.Preferably the communications bus 150 is established to provided acommunications link interconnection between the circular forcegenerators 530 generating the circular forces in the nonrotating body524 and the rotating hub mounted vibration control system at least firsthub mounted motor driven hub mass and at least second hub mounted motordriven hub mass. In preferred embodiments the communication bus is aserial communication bus, preferred embodiments the communication bus ischosen from the communication bus group comprised of ARINC-429,ARINC-825(CAN bus), and MIL-S-1553. Preferably vibration sensoraccelerometers are mounted in both the airframe and the HMVS, andpreferably vibration sensor demodulated acceleration data is shared andcommunicated on the communication bus. Preferably power for airframebody circular force generators 530 and the HMVS 20 does not come througha single power supply, and preferably the power to the circular forcegenerators 530 and the HMVS 20 is provided separately with thecommunication bus communicating data separated from such electricalpower supply delivery. Preferably a single system computer controlledcontroller coordinates both the rotating HMVS rotating hub mountedvibration control system and the airframe body circular force generators530. Preferably the rotating HMVS includes local rotating hub mountedfailure control computer controlled electronics for preventing local hubfailure, preferably preventing over-speed control. Preferably therotating HMVS and the airframe body circular force generators includelocal drive electronics, with the local drive electronics preferablyacting as nodes on the communications bus. In preferred embodiments withthe HMVS, including a dual frequency HMVS with four hub mounted motordriven hub masses, with two rotating clock-wise and two rotatingcounter-clock-wise, preferably the clock-wise rotating masses are a nodeon the bus and the counter-clock-wise rotating masses are anotherseparate note on the bus. Preferably the HMVS system controller and theairframe body circular force generators system controllers each havetheir own system control capability, such that one system can operatewithout the other. In preferred embodiments the HMVS receives tachometerinformation signals from the communication bus, and preferably the HMVSincludes a local tachometer signal sensor for locally sensing thetachometer as a backup to loss of the communication bus signal.

Further preferred embodiments of the rotary wing aircraft vehiclevibration control system with the circular force generators 530 and thehub mounted vibration control system 20 with a communication bus (COM.BUS) 150 are shown in FIG. 14-19. The rotary wing aircraft helicopterpreferably includes an active vibration control system power convertersource 26′ for outputting electromagnetic force generator power outputs.The aerostructure nonrotating frame 524 includes a plurality ofdistributed active vibration control system nodal sites 28′ for mountingof force generators wherein generated forces are inputted into theaerostructure to suppress the troublesome vibrations. Preferably theaircraft includes at least a first distributed active vibrationelectromagnetic force generator 530, the first distributed activevibration electromagnetic force generator 530 including a firstdistributed electronic control system 32 and a first electromagneticallydriven mass 34, the first distributed active vibration electromagneticforce generator 530 fixed to the frame aerostructure 524 at a firstdistributed active vibration control system nodal site 28′. The aircraftincludes a plurality of electrical power distribution lines 140, theelectrical power distribution lines 140 connecting the electromagneticforce generators 530 with the power source 26′ with the electromagneticforce generator power outputs outputted to the electromagnetic forcegenerators. The aircraft includes a distributed expandable forcegenerator data communications network 150, the distributed forcegenerator data communications network 150 linking together the at leastfirst and second distributed electronic control systems 32 wherein thedistributed electronic control systems 32 communicate force generatorvibration control data through the distributed force generator datacommunications network 150 independently of the electrical powerdistribution lines 140 to minimize the troublesome vibrations.Preferably each node has a unique address on the network 150, with theforce generating data distributed through the network 150 with theunique network address, preferably the unique node address# along withthe force data, such as a magnitude and phase of a force to be generatedby the electromagnetic force generator 530 having the unique datacommunications node network address (or the unique data communicationsnode network address with a real and imaginary force generation values).In preferred embodiments the distributed expandable force generator datacommunications network 150 is a wired data communications network, andpreferably is comprised of a communication bus and with a harnessinterface connector connecting each electromagnetic force generator'sdistributed electronic control system 32 with the network 150, with thedistributed electronic control systems 32 both sending and receivingforce generating system data through the network 150. In preferredembodiments the distributed expandable force generator datacommunications network 150 is a Controller Area Network, with thedistributed electronic control systems 32 including microcontrollerscommunicating with each other through the network along with themicrocontrollers in the system controller. Preferably the distributedelectronic control systems 32 also communicate system health data suchas whether a force generator 530 is healthy or not healthy. Preferablythe force generator network node address and its accompanying forcegeneration data (network_node#_magnitude_phase) flows throughout thenetwork 150 and is shared on the network with all network nodes and allelectromagnetic force generators 530. In an embodiment the aircraftincludes a master system controller 52, the master system controller 52connected to the distributed force generator data communications network150 wherein the master system controller 52 provides a plurality ofauthority commands to the at least first and second distributedelectronic control systems 32, with the at least first and seconddistributed electronic control systems 32 executing a plurality ofsubordinate local force generator operation commands. Preferably thesubordinate local force generator operation commands depend on the typeof force generator. In preferred embodiments the force generators 530,are rotating mass force generators, preferably with the subordinatelocal force generator operation commands commanding electromagneticmotor rotations of corotating electromagnetically driven masses 34 and36. In preferred embodiments an electromagnetic force generator'sdistributed electronic control system 32 receive its network nodeaddress and its accompanying force generation data (networknode#_magnitude_phase) from which its microcontroller computeselectromagnetic motor rotations for the corotating electromagneticallydriven masses 34 and 36 to output a desired circular force intoaerostructure 524 through the fixing base 38, with the force generators530 preferably comprised of circular force generators outputtingcircular forces into aerostructure 524 at their respective fixing basenodal sites 28′. In an embodiment the aircraft includes a migratingmaster system control authority, the migrating master system controlauthority movable between the at least first and second distributedelectronic control systems 32 of the plurality of force generators 530,with the migrating master system control authority providing a pluralityof authority commands to the distributed electronic control systems 32to execute a plurality of subordinate local force generator operationcommands such as with a Migrating Master System Control Authority,preferably without a separate distinct physical head master SystemController. With the migrating master system control authority at anyone point in time preferably the system has a master control authoritytaking up temporary residence in a distributed electronic control system32, which includes executable software and/or firmware commands thatprovide a physically headless control system with distributed control ofthe system with the ability of backup command with migration movement ofauthority. Preferably the system includes distributed networkedaccelerometers 54, with the distributed networked accelerometersincluding microcontrollers having accelerometer network links 56 withthe distributed expandable force generator data communications network150. The accelerometers input and output vibration measurement data intothe force generator data communications network, preferably with theplurality of accelerometers inputting data into the network (andreceiving data from the network) with the accelerometers each having aunique network node address #, with the accelerometers including anaccelerometer distributed network electronic control system for datainterfacing with the network. In a preferred embodiment theaccelerometer network links 56 are wired links, and preferably theaccelerometers are powered through the communications bus wired networklinks 56. In an alternative embodiment the accelerometers are wirelessnetworked accelerometers providing wireless transmission ofaccelerometer data measurements sent to the network 150 fordetermination on how to minimize troublesome vibrations with theaccelerometers powered by alternative means such as with batteries orwith power supplied from aircraft power supply outlets or power supply26′. In an embodiment the aircraft includes a distributed master systemcontrol authority. The distributed master system control authority isdistributed among the at least first and second distributed electroniccontrol systems 32 utilizing the network 150 with the distributed mastersystem control authority providing a plurality of authority commands tothe individual distributed electronic control systems 32 to execute aplurality of subordinate local force generator operation commands, suchas with a Distributed Master System Control Authority. Preferably at anyone point in time the system has a master control authority spread outin at least two distributed electronic control systems 32, and includesexecutable software and/or firmware commands that provide a physicallyheadless system with distributed control of the system with backupcontrol with the plurality of distributed electronic control systems 32on the network 150. Preferably the system includes distributed networkedaccelerometers 54, with the distributed networked accelerometersincluding microcontrollers having accelerometer network links 56 withthe distributed expandable force generator data communications network150. The accelerometers input and output vibration measurement data intothe force generator data communications network, preferably with theplurality of accelerometers inputting data into the network (andreceiving data from the network) with the accelerometers each having aunique network node address #, with the accelerometers including anaccelerometer distributed network electronic control system for datainterfacing with the network. In a preferred embodiment theaccelerometer network links 56 are wired links, and preferably theaccelerometers are powered through the communications bus wired networklinks 56. In an alternative embodiment the accelerometers are wirelessnetworked accelerometers providing wireless transmission ofaccelerometer data measurements sent to the network 150 fordetermination on how to minimize troublesome vibrations with theaccelerometers powered by alternative means such as with batteries orwith power supplied from aircraft power supply outlets or power supply26′. In an embodiment the aircraft includes at least a first distributednetworked accelerometer 54. The accelerometer outputs can be inputteddirectly into the network 150 or into system controller 52. Preferablythe at least first distributed networked accelerometer 54 has anaccelerometer network link 56 with the distributed expandable forcegenerator data communications network 150. The accelerometers are fixedto the aircraft, preferably fixed to the aerostructure 524, and measurevibrations in the aerostructure. The accelerometers sense and measurethe troublesome vibrations created by the rotating machinery and theforces generated by the actuators and are measurable by theaccelerometer. The accelerometer measurements of vibrations are used ascontrol inputs to drive down and minimize the troublesome vibrations.The accelerometers input and output vibration measurement data into theforce generator data communications network, preferably with theplurality of accelerometers inputting data into the network (andreceiving data from the network) with the accelerometers each having aunique network node address #, with the accelerometers including anaccelerometer distributed network electronic control system for datainterfacing with the network. In a preferred embodiment theaccelerometer network links 56 are wired links, and preferably theaccelerometers are powered through the communications bus wired networklinks 56. In an alternative embodiment the accelerometers are wirelessnetworked accelerometers providing wireless transmission ofaccelerometer data measurements sent to the network 150 fordetermination on how to minimize troublesome vibrations with theaccelerometers powered by alternative means such as with batteries orwith power supplied from aircraft power supply outlets or power supply26′. The accelerometer data measurements are shared through the network150 and used in the system controllers, processors, and electroniccontrol systems in the determination of controlling the electromagneticdriving of the moving masses to generate the forces to minimize thetroublesome vibrations. In preferred embodiments the first distributedelectronic control system 32 executes a plurality of local forcegenerator operation rotating motor commands to rotate at least its firstelectromagnetic motor to move its at least first mass, and the seconddistributed electronic control system 32 executes a plurality of localforce generator operation rotating motor commands to rotate at least itsfirst electromagnetic motor to move its at least first mass. Preferablythe plurality of distributed active vibration force generators 530 arecircular force generating distributed active vibration force generatorswith the distributed electronic control systems 32 executing a pluralityof local force generator operation rotating motor control commands.Preferably the distributed electronic control systems have a network businterface with the data communications network bus through which forcegeneration data is communicated, with the distributed electronic controlsystems executing a plurality of local force generator operationcommands.

In an embodiment the invention includes a rotary blade rotary wingaircraft rotating hub mounted rotating assembly vibration control systemfor a rotary blade rotary wing aircraft rotating hub assemblyexperiencing a vibration of a plurality of vibration frequencies whilerotating at an operational rotation frequency about a rotating assemblycenter axis of rotation. FIG. 13A-13B illustrate a preferred rotaryblade rotary wing aircraft rotating hub mounted rotating assemblyvibration control system HMVS 20 for a rotary blade rotary wing aircraftrotating hub assembly 22 experiencing a vibration 24 of a plurality ofvibration frequencies while rotating at an operational rotationfrequency 26 (1P) about a rotating assembly center axis of rotation 28.(As illustrated and labeled the rotating hub assembly is rotating at 1Pin a clockwise direction relative to non-rotating aircraft body/groundreferences).

FIG. 20A-C illustrates a hub mounted rotating assembly vibration controlsystem 20 with about a quarter section cut away to reveal the internalshoused inside the annular ring housing 30. The helicopter rotating hubmounted vibration control system preferably includes an annular ringhousing 30 attachable to the helicopter rotary wing hub and rotatingwith the helicopter rotary wing hub at the helicopter operationalrotation frequency. The helicopter rotating hub mounted vibrationcontrol system housing 30 including a first imbalance mass concentrationrotor 38, a second imbalance mass concentration rotor 44, a thirdimbalance mass concentration rotor 38′, and a fourth imbalance massconcentration rotor 44′. FIG. 21 illustrates a further rotating assemblyvibration control system 20, with a cross section showing the fourrotors housed in the housing 30. FIG. 22A-B illustrate the imbalancemass concentration rotors with their mass concentrations 40, 46, 40′,46′. Preferably the first imbalance mass concentration rotor 38 has afirst imbalance mass concentration rotor center axis of rotation 136centered on the rotating assembly center axis of rotation 28, the secondimbalance mass concentration rotor 44 having a second imbalance massconcentration rotor center axis of rotation 142 centered on the rotatingassembly center axis of rotation 28, the third imbalance massconcentration rotor 38′ having a third imbalance mass concentrationrotor center axis of rotation 136′ centered on the rotating assemblycenter axis of rotation 28, and the fourth imbalance mass concentrationrotor 44′ having a fourth imbalance mass concentration rotor center axisof rotation 142′ centered on the rotating assembly center axis ofrotation 28. The first imbalance mass concentration rotor 38 and thesecond imbalance mass concentration rotor 44 are driven at a firstrotation speed greater than the rotating assembly operational rotationfrequency 26 (1P) while controlling the rotational position of the firstimbalance mass concentration 40 and the second imbalance massconcentration 46 to produce a first rotating net force vector to inhibita first vibration frequency. In preferred embodiments as illustrated inFIG. 20-22, the first imbalance mass concentration rotor 38 and thesecond imbalance mass concentration rotor 44 are driven at a fourmultiple vibration canceling rotation frequency (4P) counter rotatingdirection (rotation opposing rotation of the rotating hub assembly)(counter clockwise if hub is rotating clockwise as illustrated). Thefirst and second rotor imbalance mass concentrations 40, 46 are drivenat 4P opposing the direction of the rotating hub rotation whilecontrolling the rotational position of the first imbalance massconcentration 40 and the second imbalance mass concentration 46 toproduce a first rotating net force vector. The third imbalance massconcentration rotor 38′ and the fourth imbalance mass concentrationrotor 44′ are driven at a second rotation speed greater than therotating assembly operational rotation frequency 26 (P) whilecontrolling the rotational position of the third imbalance massconcentration 40′ and the fourth imbalance mass concentration 46′ toproduce a second rotating net force vector. The first and secondrotating force vectors are controlled to inhibit vibration frequency(4P). In a preferred embodiment as illustrated in FIG. 20-22, the thirdimbalance mass concentration rotor 38′ and the fourth imbalance massconcentration rotor 44′ are driven at a four multiple vibrationcanceling rotation frequency (4P) co-rotating direction rotating withthe rotation of the rotating hub assembly (4P rotating in same directionas rotating hub, clockwise if hub is rotating clockwise as illustrated)while controlling the rotational position of the third imbalance massconcentration and the fourth imbalance mass concentration to produce asecond rotating net force vector to inhibit a second vibration frequency(5P) with respect to the 1P rotating frame. With the rotor hub rotatingat P, and having N blades, preferably the first and second imbalancemass concentrations are rotated at a whole number multiple of P, mostpreferably NP in the direction opposing the rotor hub rotation, andpreferably the third and fourth imbalance mass concentrations arerotated at a whole number multiple of P, most preferably NP in the samedirection as the rotor hub rotation. Preferably the first imbalance massconcentration is opposingly oriented relative to the second imbalancemass concentration during a starting stopping rotation speed less thanthe first rotation speed. Preferably the third imbalance massconcentration is opposingly oriented relative to the fourth imbalancemass concentration during a starting stopping rotation speed less thanthe second rotation speed.

Preferably the first vibration frequency is a distinct rotating framelower harmonic frequency from the second vibration frequency higherharmonic, and the first imbalance mass concentration rotor and thesecond imbalance mass concentration rotor is driven and controlledindependently from the third imbalance mass concentration rotor and thefourth imbalance mass concentration rotor, preferably with the firstimbalance mass concentration rotor and the second imbalance massconcentration rotor driven to rotate opposite of the hub assembly andthe third and fourth rotors. Preferably the first vibration frequencylower harmonic is a distinct lower harmonic frequency 3P tone from thesecond vibration frequency higher harmonic 5P tone with respect to the1P rotating frame. FIG. 23A-C show simulated test data showing with thevibration control on the system inhibited the two distinct frequencies;the test was simulated using a stationary helicopter body and rotor hubwith vibrations inputted into the rotor hub using controlled linearactuator disturbance force generators to simulate the in-flighthelicopter rotating hub vibrations.

Preferably the first vibration frequency is a distinct lower harmonicfrequency tone from the second vibration frequency tone, and the firstimbalance mass concentration rotor rotational position control and thesecond imbalance mass concentration rotor rotational position control issegregated from the third imbalance mass concentration rotor rotationalposition control and the fourth imbalance mass concentration rotorrotational position control. Preferably the first imbalance massconcentration rotor rotational position control and the second imbalancemass concentration rotor rotational position control is segregated fromthe third imbalance mass concentration rotor rotational position controland the fourth imbalance mass concentration rotor rotational positioncontrol, preferably with the electronics control system 50 comprised ofseparate subsystems 50′, 50″.

Preferably the vibration control system includes a tachometer input anda first rotation speed rotors stage VC controller for controlling thefirst imbalance mass concentration rotor rotational position and thesecond imbalance mass concentration rotor rotational position, and asecond rotation speed rotors stage VC controller for controlling thethird imbalance mass concentration rotor rotational position and thefourth imbalance mass concentration rotor rotational position. FIG.24A-B illustrates a vibration control system with a tachometer input anda first rotation speed rotors stage VC controller for controlling thefirst imbalance mass concentration rotor rotational position and thesecond imbalance mass concentration rotor rotational position with 3/Revcommands (3P commands) to a first motor control loop, and a secondrotation speed rotors stage VC controller for controlling the thirdimbalance mass concentration rotor rotational position and the fourthimbalance mass concentration rotor rotational position with 5/Revcommands (5P commands) to a second motor control loop.

Preferably the vibration control system includes a first rotation speedelectronics control system subsystem 50′ for controlling the firstimbalance mass concentration rotor rotational position and the secondimbalance mass concentration rotor rotational position, and a secondrotation speed electronics control system subsystem 50″ for controllingthe third imbalance mass concentration rotor rotational position and thefourth imbalance mass concentration rotor rotational position.Preferably the vibration control system first rotation speed electronicscontrol system subsystem 50′ is a first rotation speed rotors 3P stageVC controller for controlling the first imbalance mass concentrationrotor rotational position and the second imbalance mass concentrationrotor rotational position, and the second rotation speed electronicscontrol system subsystem 50″ is a second rotation speed rotors 5P stageVC controller for controlling the third imbalance mass concentrationrotor rotational position and the fourth imbalance mass concentrationrotor rotational position.

Preferably the vibration control system includes a fault mode controlprotocol for controlling a rotation of the rotors during a sensedfailure of the rotating assembly vibration control system, preferablywith the system braking a failed rotor.

Preferably the first imbalance mass concentration is opposingly orientedto the second imbalance mass concentration during a first startingstopping rotation speed less than the first rotation speed and the thirdimbalance mass concentration is opposingly oriented to the fourthimbalance mass concentration during a second starting stopping rotationspeed less than the second rotation speed.

In an embodiment the invention includes a computer program product in astorage medium for controlling a rotating vibration control system witha first imbalance mass concentration rotor, a second imbalance massconcentration rotor, a third imbalance mass concentration rotor, and afourth imbalance mass concentration rotor. The computer program productincludes a computer readable storage medium. The computer programproduct includes first program instructions for driving the firstimbalance mass concentration rotor and the second imbalance massconcentration rotor at a first rotation speed vibration cancelingrotation frequency while controlling the rotational position of thefirst imbalance mass concentration and the second imbalance massconcentration to produce a first net force vector to inhibit a firstvibration frequency. Preferably the mass concentrations are controlledto inhibit a 3P lower harmonic. The computer program product includessecond program instructions for driving the third imbalance massconcentration rotor and the fourth imbalance mass concentration rotor ata second rotation speed vibration canceling rotation frequency whilecontrolling the rotational position of the first imbalance massconcentration and the second imbalance mass concentration separate fromthe controlling of the first imbalance mass concentration and the secondimbalance mass concentration to produce a second net force vector toinhibit a second vibration frequency. Preferably the mass concentrationsare controlled to inhibit a 5P higher harmonic. Preferably the computerprogram product includes program instructions opposingly orient thefirst imbalance mass concentration relative to the second imbalance massconcentration during a transitioning rotation speed, and the thirdimbalance mass concentration relative to the fourth imbalance massconcentration during a transitioning rotation speed. FIGS. 20A and 24Billustrate the computer program product in a storage medium 1107, suchas a storage medium 1107 readable by a computer 1106 and up loadableinto the electronics control system 50 and subsystems 50′, 50″, with theelectronics control system 50 and subsystems 50′, 50″ utilizing suchinstructions.

Preferably the computer program instructions include programinstructions for calculating rotational positions of the third andfourth imbalance mass concentration rotors independently of the firstand second imbalance mass concentration rotor positions.

Preferably the computer program instructions include programinstructions for monitoring a tachometer input signal, and maintainingan opposing orientation of the first imbalance mass concentration andthe second imbalance mass concentration.

Preferably a fault mode control protocol for controlling a rotation ofthe rotors during a sensed failure of the rotating vibration controlsystem, preferably with instructions for braking a failed rotor.Preferably the fault mode control protocol includes instructions formonitoring a sensor signal and detecting a first rotor failure.Preferably the fault mode control protocol includes instructions formonitoring a sensor signal and detecting a second rotor failure.Preferably the fault mode control protocol includes instructions formonitoring a sensor signal and detecting a third rotor failure.Preferably the fault mode control protocol includes instructions formonitoring a sensor signal and detecting a fourth rotor failure.

Preferably the computer program instructions include programinstructions to monitor a plurality of sensor signals. Preferably thecomputer program instructions include program instructions to monitor aplurality of accelerometers housed in the housing 30. Preferably thecomputer program instructions include program instructions to monitor aplurality of prefer position sensors housed in the housing a sensing theposition of the rotors 38, 44, 38′, 44′, preferably Hall sensors.Preferably the computer program instructions include programinstructions to monitor a plurality of fault sensors and health monitorsensors.

In an embodiment the invention includes computer program product in astorage medium for controlling a rotating assembly vibration controlsystem. The computer program product including a computer readablestorage medium. The computer program product including first programinstructions to control a rotation of a first rotor and a rotation of asecond rotor. The computer program product including second programinstructions to monitor a plurality of sensor signals. The computerprogram product including third program instructions to control therotation speed, rotation direction and phase of the first rotor and therotation speed, rotation direction and phase of the second rotor tominimize a first monitored vibration frequency sensor signal. Thecomputer program product including fourth program instructions tocontrol a rotation of a third rotor and a rotation of a fourth rotor.The computer program product including fifth program instructions tomonitor a plurality of sensor signals. The computer program productincluding sixth program instructions to control the rotation speed,rotation direction and phase of the third rotor and the rotation speed,rotation direction and phase of the fourth rotor to minimize a secondmonitored vibration frequency sensor signal.

Preferably the computer program product includes below speed programinstructions, the below speed program instructions providing commands toopposingly orient a first rotor first imbalance mass concentrationrelative to a second rotor second imbalance mass concentration when thespeed is below the vibration control rotation speed, preferably whenstarting and stopping the system. Preferably the computer programproduct includes below speed program instructions, the below speedprogram instructions providing commands to opposingly orient a thirdrotor first imbalance mass concentration relative to a fourth rotorsecond imbalance mass concentration when the speed is below thevibration control rotation speed, preferably when starting and stoppingthe system.

In an embodiment the invention includes a rotating vibration controlsystem for a rotating assembly having at least a first vibrationfrequency operational vibration and at least a second vibrationfrequency operational vibration. The rotating vibration control systemincludes a first rotor with a first imbalance mass concentration, thefirst rotor driven to rotate at a first rotation speed greater than anoperational rotation frequency of the rotating assembly, preferably in acounter rotating direction, with rotation opposing rotation of therotating assembly. The rotating vibration control system includes asecond rotor with a second imbalance mass concentration, the secondrotor driven to rotate at the first rotation speed greater than anoperational rotation frequency of the rotating assembly, preferably inthe counter rotating direction, opposing the rotation of the rotatingassembly. The rotating vibration control system includes a third rotorwith a third imbalance mass concentration, the third rotor driven torotate at a second rotation speed greater than an operational rotationfrequency of the rotating assembly, preferably in a co-rotatingdirection, rotating with the rotation of the rotating assembly. Therotating vibration control system includes a fourth rotor with a fourthimbalance mass concentration, the fourth rotor driven to rotate at thesecond rotation speed greater than an operational rotation frequency ofthe rotating assembly in the co-rotating direction with the rotation ofthe rotating assembly.

The rotating vibration control system includes at least a firstvibration sensor for producing a plurality of first vibration sensorsignals. The rotating vibration control system includes at least asecond vibration sensor for producing a plurality of second vibrationsensor signals. The rotating vibration control system includes a firstrotor rotational position sensor. a second rotor rotational positionsensor, a third rotor rotational position sensor, and a fourth rotorrotational position sensor, preferably Hall Effect sensors sensing thefour rotor positions. The rotating vibration control system preferablyincludes a first motor control loop for controlling the rotation of thefirst rotor and the rotation of the second rotor and receives firststage VC controller motor commands. The rotating vibration controlsystem preferably includes a first vibration control loop first rotationspeed stage VC controller for controlling rotors and providing commandsto the first motor control loop to minimize the first vibration sensorsignals and the second vibration sensor signals. The rotating vibrationcontrol system preferably includes a second motor control loop forcontrolling the rotation of the third rotor and the rotation of thefourth rotor and receives second stage VC controller motor commands. Therotating vibration control system preferably includes a second vibrationcontrol loop second rotation speed stage VC controller for controllingrotors and providing commands to the second motor control loop tominimize the first vibration sensor signals and the second vibrationsensor signals. Preferably the second vibration control loop secondstage VC controller commands the second motor control loop independentof the first vibration control loop first stage VC controller.

Preferably the motor control loops close a control loop around therespective motors based on respective rotor position feedback derivedfrom the rotor rotational position sensors. Preferably the systemincludes a soft start stop control subsystem, the soft start stopcontrol subsystem providing commands to opposingly orient a firstimbalance mass concentration relative to a second imbalance massconcentration, and a third imbalance mass concentration opposing afourth.

Preferably the soft start stop control subsystem includes programinstructions to opposingly orient a first imbalance mass concentrationrelative to a second imbalance mass concentration during a rotationspeed ramp up, and a third imbalance mass concentration opposing afourth.

Preferably the soft start stop control subsystem includes programinstructions to opposingly orient a first imbalance mass concentrationrelative to a second imbalance mass concentration during a rotationspeed ramp down, and a third imbalance mass concentration opposing afourth.

In an embodiment the invention includes a rotary wing aircraft rotatinghub mounted vibration control system for a rotary wing hub having atleast a first and a second vibration frequency while rotating at arotary wing operational rotation frequency. The rotating hub mountedvibration control system is comprised of: a system housing, the systemhousing attached to the rotary wing hub and rotating with the rotarywing hub at the operational rotation frequency. Preferably the housinghas an electronics housing cavity subsystem and an adjacent coaxialrotor housing cavity subsystem, the rotor housing cavity subsystemcontaining the rotors.

The housing housing a first coaxial ring motor having a first rotor witha first imbalance mass concentration, a second coaxial ring motor havinga second rotor with a second imbalance mass concentration.

The housing housing a third coaxial ring motor having a third rotor witha third imbalance mass concentration, a fourth coaxial ring motor havinga fourth rotor with a fourth imbalance mass concentration.

The housing housing an electronics control system for controlling thevibration control system, preferably with computer electronics whichutilize computer medium to operate and execute program instructions fromcomputer program products, which are storable on and loadable fromcomputer storage medium.

The electronics control system includes a first rotation speed rotorstage VC controller electronics control subsystem for controlling arotational position of the first imbalance mass concentration rotor anda rotational position of the second imbalance mass concentration rotor,the first rotation speed rotor stage VC controller electronics controlsubsystem controlling a speed and a phase of the first coaxial ringmotor and the second coaxial ring motor such that the first imbalancemass concentration and the second imbalance mass concentration aredirectly driven at a whole number multiple vibration canceling rotationfrequency greater than the operational rotation frequency wherein thefirst rotary wing hub vibration frequency is reduced.

The electronics control system includes a second rotation speed rotorstage VC controller electronics control subsystem for controlling arotational position of the third imbalance mass concentration rotor anda rotational position of the fourth imbalance mass concentration rotor,the second rotation speed rotor stage VC controller electronics controlsubsystem controlling a speed and a phase of the third coaxial ringmotor and the fourth coaxial ring motor such that the third imbalancemass concentration and the fourth imbalance mass concentration aredirectly driven at a whole number multiple vibration canceling rotationfrequency greater than the operational rotation frequency wherein thesecond helicopter rotary wing hub vibration frequency is reduced.

Preferably first rotation speed rotor stage VC controller electronicscontrol subsystem is separate from the second rotation speed rotor stageVC controller electronics control subsystem, preferably two subsystemscontrol their rotors independently of the other rotors, preferably thelocation of the first and second rotors does not directly depend on thelocation of the third and fourth.

Preferably the first rotation speed rotor stage VC controllerelectronics control subsystem is physically separate from the secondrotation speed rotor stage VC controller electronics control subsystem,preferably stacked in at least two electronics layers, preferably theelectronics are housed proximate the center axis of rotation, proximatethe housing ID, distal from housing OD. Preferably the rotors arestacked in layers, and the electronics subsystems are stacked in layers,the electronics proximate the housing ID and the rotors proximate thehousing OD.

In an embodiment the invention includes a method of controlling aplurality of vibration frequencies of an aircraft with a rotary hubwhich rotates at an operational rotation frequency. The method includesproviding an annular ring housing containing a first coaxial ring motorhaving a first rotor with a first imbalance mass concentration, a secondcoaxial ring motor having a second rotor with a second imbalance massconcentration, a third coaxial ring motor having a third rotor with athird imbalance mass concentration, a fourth coaxial ring motor having afourth rotor with a fourth imbalance mass concentration, and anelectronics control system for controlling the vibration control system.Preferably the electronics control system computer electronics executeprogram instructions from computer program products, which are storableon and loadable from computer storage medium, the electronics controlsystem including a first rotation speed rotor stage VC controllerelectronics control subsystem for controlling a rotational position ofthe first imbalance mass concentration rotor and a rotational positionof the second imbalance mass concentration rotor, the electronicscontrol system including a second rotation speed rotor stage VCcontroller electronics control subsystem for controlling a rotationalposition of the third imbalance mass concentration rotor and arotational position of the fourth imbalance mass concentration rotor.

The method includes securing the annular ring housing to the rotary hubwith the annular ring housing rotating at the operational rotationfrequency with the rotary hub, driving the first rotor and the secondrotor at a first whole number multiple vibration canceling rotationfrequency greater than the operational rotation frequency whilecontrolling the rotational position of the first imbalance massconcentration and the second imbalance mass concentration in order toproduce a first rotating net force vector to inhibit a first vibrationfrequency, and driving the third rotor and the fourth rotor at a secondwhole number multiple vibration canceling rotation frequency greaterthan the operational rotation frequency while controlling the rotationalposition of the third imbalance mass concentration and the fourthimbalance mass concentration in order to produce a second rotating netforce vector to inhibit a second vibration frequency.

Preferably the first rotation speed rotor stage VC controllerelectronics control subsystem controls a speed and a phase of the firstcoaxial ring motor and the second coaxial ring motor such that the firstimbalance mass concentration and the second imbalance mass concentrationare directly driven at a whole number multiple vibration cancelingrotation frequency greater than the operational rotation frequencywherein the first rotary wing hub vibration is reduced independent fromthe second rotation speed rotor stage VC controller electronics controlsubsystem controlling the speed and phase of the third coaxial ringmotor and the fourth coaxial ring motor such that the third imbalancemass concentration and the fourth imbalance mass concentration aredirectly driven at a whole number multiple vibration canceling rotationfrequency greater than the operational rotation frequency wherein thesecond helicopter rotary wing hub vibration is reduced.

FIGS. 25 and 26 illustrate embodiments of the invention. FIG. 25A-C showthe stacking of the imbalance rotors and motors, and the stacking of theseparate electronics control subsystems 50′, 50″. Preferably the stagesare vertically stackable and separate, preferably with the electronicscontrols proximate the axis 28 and the housing ID and the rotorimbalance masses proximate the housing OD and distal from the axis 28.As a comparison between FIGS. 25 and 26 shows, the vertically stackablestages are preferably separate, and in a preferred embodiment the firststage is used solely and separate as shown in FIG. 25. FIG. 27A-Billustrates another embodiment of the invention with the stacking of thestages. FIG. 27B illustrates an embodiment of sensing the position ofrotors and the imbalance mass with sensors 70, contained within thehousing 30, with the sensors 70 position and mounted to providedposition information regarding the rotational position of the imbalancemass being controlled. In an embodiment an inner motor control loopcloses a control loop around the motors driving the rotors based onrotor motor position feedback derived from motor position sensors 70,preferably from the rotor magnetic encoder rotor position sensor readheads 70, preferably a Hall sensor. The inner loop servos the positionof the motor to track commands sent from the vibration control stage VCcontroller such as the Rev Cmd. In FIG. 24 preferably these commands arein the form of a phase with respect to the provided tachometer signalinput. FIG. 28A-D illustrate embodiments of the invention. FIG. 28Ashows a first motor 36 with first imbalance rotor 38 with firstimbalance rotor eccentric mass concentration 40. FIG. 28B shows a secondmotor 42 with second imbalance rotor 44 with second imbalance rotoreccentric mass concentration 46. FIG. 28C shows a third motor 36′ withthird imbalance rotor 38′ with third imbalance rotor eccentric massconcentration 40′. FIG. 28D shows a fourth motor 42′ with fourthimbalance rotor 44′ with fourth imbalance rotor eccentric massconcentration 46′. FIG. 29 illustrates an embodiment of an electronicscontrol system 50 for housing in the annular housing, with theelectronics control system 50 circuit board including orthogonallypositioned accelerometers 72, with the vibration sensor accelerometerhardware 72 providing orthogonal acceleration vibration signals. FIG.30A-B illustrates another embodiment of the invention with the stackingof the rotor stages. In FIG. 30A the electronics control system 50 isshown stacked below the lower rotor. FIG. 31-32 illustrate furtherembodiments of imbalance rotors with imbalance mass concentrations.

In embodiments the invention includes a rotary wing aircraft, the rotarywing aircraft having a nonrotating aerostructure body and a rotatingrotary wing hub, the rotary wing aircraft including a vehicle vibrationcontrol system, a rotating hub mounted vibration control system, therotating hub mounted vibration control system mounted to the rotatingrotary wing hub with the rotating hub mounted vibration control systemrotating with the rotating rotary wing hub, a rotary wing aircraftmember sensor for outputting rotary wing aircraft member datacorrelating to the relative rotation of the rotating rotary wing hubmember rotating relative to the nonrotating body, at least a firstnonrotating body vibration sensor, the at least first nonrotating bodyvibration sensor outputting at least first nonrotating body vibrationsensor data correlating to vibrations, at least a first nonrotating bodycircular force generator, the at least a first nonrotating body circularforce generator fixedly coupled with the nonrotating body, a distributedforce generation data communications network link, the distributed forcegeneration data communications system network link linking together atleast the first nonrotating body circular force generator and therotating hub mounted vibration control system wherein the rotating hubmounted vibration control system and the first nonrotating body circularforce generator communicate force generation vibration control datathrough the distributed force generation data communications network,the at least first nonrotating body circular force generator controlledto produce a rotating force with a controllable rotating force magnitudeand a controllable rotating force phase, the controllable rotating forcemagnitude controlled from a minimal force magnitude up to a maximumforce magnitude, and with the controllable rotating force phasecontrolled in reference to the rotary wing aircraft member sensor datacorrelating to the relative rotation of the rotating rotary wing hubrotating relative to the nonrotating body wherein the vibration sensedby the at least first nonrotating body vibration sensor is reduced.

In embodiments the invention includes a aircraft vibration controlsystem, for a aircraft vehicle having a nonrotating aerostructure bodyand a rotating rotary wing hub, including, a rotating hub mountedvibration control system, the rotating hub mounted vibration controlsystem mounted to the rotating rotary wing hub with the rotating hubmounted vibration control system rotating with the rotating rotary winghub, a rotary wing aircraft member sensor for outputting rotary wingaircraft member data correlating to the relative rotation of therotating rotary wing hub member rotating relative to the nonrotatingbody, at least a first nonrotating body vibration sensor, the at leastfirst nonrotating body vibration sensor outputting at least firstnonrotating body vibration sensor data correlating to vibrations, atleast a first nonrotating body force generator, the at least firstnonrotating body force generator fixedly coupled with the nonrotatingbody, a distributed force generation data communications network seriallink, the distributed force generation data communications systemnetwork serial link linking together at least the first nonrotating bodyforce generator and the rotating hub mounted vibration control systemwherein the rotating hub mounted vibration control system and the firstnonrotating body force generator communicate and share force generationvibration control data through the distributed force generation datacommunications network, the at least first nonrotating body forcegenerator controlled to produce a force with a controllable magnitudeand a controllable phase, the controllable force magnitude controlledfrom a minimal force magnitude up to a maximum force magnitude, and withthe controllable force phase controlled in reference to the rotary wingaircraft member sensor data correlating to the relative rotation of therotating rotary wing hub rotating relative to the nonrotating body andthe rotating hub mounted vibration control system includes at least afirst hub mounted vibration control system rotor with a first imbalancemass concentration, the first hub mounted vibration control system rotordriven to rotate at a first rotation speed greater than an operationalrotation frequency of the rotating rotary wing hub, and at least asecond hub mounted vibration control system rotor with a secondimbalance mass concentration, the second hub mounted vibration controlsystem rotor driven to rotate at the first rotation speed greater thanthe operational rotation frequency of the rotating rotary wing hub,wherein the vibration sensed by the at least first nonrotating bodyvibration sensor is reduced.

In embodiments the invention includes a aircraft vibration controlsystem, for a aircraft vehicle having a nonrotating aerostructure bodyand a rotating rotary wing hub, including, a rotating hub mounted meansfor controlling vibrations, the rotating hub mounted means forcontrolling vibrations mounted to the rotating rotary wing hub with therotating hub mounted means for controlling vibrations rotating with therotating rotary wing hub, a rotary wing aircraft member sensor foroutputting rotary wing aircraft member data correlating to the relativerotation of the rotating rotary wing hub member rotating relative to thenonrotating body, at least a first nonrotating body vibration sensor,the at least first nonrotating body vibration sensor outputting at leastfirst nonrotating body vibration sensor data correlating to vibrations,at least a first nonrotating body force generator, the at least firstnonrotating body force generator fixedly coupled with the nonrotatingbody, a means for linking together the first nonrotating body forcegenerator and the rotating hub mounted means for controlling vibrationswherein the rotating hub mounted means for controlling vibrations andthe first nonrotating body force generator communicate and share forcegeneration vibration control data through the means for linking, the atleast first nonrotating body force generator controlled to produce aforce with a controllable magnitude and a controllable phase, thecontrollable force magnitude controlled from a minimal force magnitudeup to a maximum force magnitude, and with the controllable force phasecontrolled in reference to the rotary wing aircraft member sensor datacorrelating to the relative rotation of the rotating rotary wing hubrotating relative to the nonrotating body and, wherein the vibrationsensed by the at least first nonrotating body vibration sensor isreduced.

In embodiments the invention includes a vehicle vibration control systemfor controlling troublesome vibrations in a nonrotating vehicle bodyhaving a rotating machine member, the vehicle vibration control systemincluding a vehicle vibration control system controller, a rotatingmachine member sensor, for inputting vehicle rotating machine memberdata correlating to a relative rotation of the rotating machine memberrotating relative to the nonrotating body into the vehicle vibrationcontrol system controller, at least a first nonrotating vehicle bodyvibration sensor, the at least first nonrotating vehicle body vibrationsensor inputting at least first nonrotating vehicle body vibrationsensor data correlating to vehicle vibrations into the vehicle vibrationcontrol system controller, at least a first nonrotating vehicle bodycircular force generator, the at least a first nonrotating vehicle bodycircular force generator for fixedly mounting to the nonrotating vehiclebody wherein the at least first nonrotating vehicle body circular forcegenerator is controlled by the controller to produce a rotating forcewith a controllable rotating force magnitude and a controllable rotatingforce phase, the controllable rotating force magnitude controlled from aminimal force magnitude up to a maximum force magnitude, and with thecontrollable rotating force phase controlled in reference to the vehiclerotating machine member sensor data correlating to the relative rotationof the vehicle rotating machine member rotating relative to thenonrotating vehicle body with the vehicle vibration sensed by the atleast first nonrotating vehicle body vibration sensor reduced by thecontroller, and a hub mounted vibration control system, the hub mountedvibration control system linked with the vehicle vibration controlsystem controller.

In embodiments the invention includes a method of controlling vibration,the method including, providing at least a first nonrotating vehiclebody circular force generator, fixedly mounting the at least firstnonrotating vehicle body circular force generator to a nonrotatingvehicle body, controlling the at least first nonrotating vehicle bodycircular force generator to produce a rotating force with a controllablerotating force magnitude and a controllable rotating force phase,providing hub mounted vibration control system, fixedly mounting the hubmounted vibration control system to a rotatable hub of the nonrotatingvehicle body, providing distributed force generation data communicationsnetwork link and linking the hub mounted vibration control systemtogether with the at least first nonrotating vehicle body circular forcegenerator.

It will be apparent to those skilled in the art that variousmodifications and variations can be made to the invention withoutdeparting from the spirit and scope of the invention. Thus, it isintended that the invention cover the modifications and variations ofthis invention provided they come within the scope of the appendedclaims and their equivalents. It is intended that the scope of differingterms or phrases in the claims may be fulfilled by the same or differentstructure(s) or step(s).

What is claimed is:
 1. A vehicle, said vehicle having a nonrotatingvehicle body and a rotating machine member, said vehicle including avehicle vibration control system, said vehicle vibration control systemincluding a vehicle vibration control system controller, a vehiclerotating machine member sensor for inputting vehicle rotating machinemember data correlating to said relative rotation of said vehiclerotating machine member rotating relative to said nonrotating vehiclebody into said vehicle vibration control system controller, at least afirst nonrotating vehicle body vibration sensor, said at least firstnonrotating vehicle body vibration sensor inputting at least firstnonrotating vehicle body vibration sensor data correlating to vehiclevibrations into said vehicle vibration control system controller, atleast a first nonrotating vehicle body circular force generator, said atleast a first nonrotating vehicle body circular force generator fixedlycoupled with said nonrotating vehicle body, said at least firstnonrotating vehicle body circular force generator controlled to producea rotating force with a controllable rotating force magnitude and acontrollable rotating force phase, said controllable rotating forcemagnitude controlled from a minimal force magnitude up to a maximumforce magnitude, and with said controllable rotating force phasecontrolled in reference to said vehicle rotating machine member sensordata correlating to said relative rotation of said vehicle rotatingmachine member rotating relative to said nonrotating vehicle bodywherein said vehicle vibration sensed by said at least first nonrotatingvehicle body vibration sensor is reduced.
 2. A vehicle, as claimed inclaim 1, including n nonrotating vehicle body vibration sensors and mnonrotating vehicle body circular force generators wherein n>m.
 3. Avehicle, as claimed in claim 1, wherein said rotating force iscontrolled to rotate at a vibration disturbance frequency.
 4. A vehicle,as claimed in claim 1, wherein said vehicle vibration control systemcontroller generates a rotating reference signal from said vehiclerotating machine member data correlating to said relative rotation ofsaid vehicle rotating machine member rotating relative to saidnonrotating vehicle body.
 5. A vehicle, as claimed in claim 4, whereinsaid vehicle vibration control system controller calculates in referenceto said rotating reference signal said rotating force with a real part αand an imaginary part β.
 6. A vehicle, as claimed in claim 1, whereinsaid at least first nonrotating vehicle body circular force generatorincluding at least a first rotating mass (mass₁ _(_) ₁) controllablydriven about a first rotating mass axis with a first rotating masscontrollable rotating imbalance phase Φ₁ _(_) ₁ and at least a secondcorotating mass (mass₁ _(_) ₂) controllably driven about a secondrotating mass axis with a second rotating mass controllable rotatingimbalance phase φ₁ _(_) ₂.
 7. A vehicle, as claimed in claim 1,including n nonrotating vehicle body vibration sensors and m nonrotatingvehicle body circular force generators, said vehicle vibration controlsystem controller generates a rotating reference signal from saidvehicle rotating machine member data correlating to said relativerotation of said vehicle rotating machine member rotating relative tosaid nonrotating vehicle body, said first nonrotating vehicle bodycircular force generator including a first rotating mass (mass₁ _(_) ₁)controllably driven about a first rotating mass axis with a firstrotating mass controllable rotating imbalance phase φ₁ _(_) ₁ and asecond corotating mass (mass₁ _(_) ₂) controllably driven about a secondrotating mass axis with a second rotating mass controllable rotatingimbalance phase φ₁ _(_) ₂, said imbalance phase φ₁ _(_) ₁ and saidimbalance phase φ₁ _(_) ₂ controlled in reference to said rotatingreference signal, said mth nonrotating vehicle body circular forcegenerator including a first rotating mass (mass_(m) _(—1) ) controllablydriven about a first rotating mass axis with a first rotating masscontrollable rotating imbalance phase Φ_(m) _(_) ₁ and a secondcorotating mass (mass_(m) _(_) ₂) controllably driven about a secondrotating mass axis with a second rotating mass controllable rotatingimbalance phase Φ_(m) _(_) ₂, said imbalance phase Φ_(m) _(_) ₁ and saidimbalance phase Φ_(m) _(_) ₂ controlled in reference to said rotatingreference signal.
 8. A vehicle, as claimed in claim 1, wherein saidfirst nonrotating vehicle body circular force generator includes a firstrotating imbalance concentration mass (mass₁ _(_) ₁) with a firstrotating mass controllable rotating imbalance phase Φ₁ _(_) ₁ and asecond corotating imbalance concentration mass (mass₁ _(_) ₂) with asecond rotating mass controllable rotating imbalance phase Φ₁ _(_) ₂. 9.A vehicle, as claimed in claim 8, wherein said first rotating imbalanceconcentration mass (mass₁ _(_) ₁) is driven with a first motor and saidsecond corotating imbalance concentration mass (mass₁ _(_) ₂) is drivenwith a second motor.
 10. A vehicle, as claimed in claim 8, with a detentlinking between said first rotating imbalance concentration mass(mass_(m) _(_) ₁) and said second corotating imbalance concentrationmass (mass_(m) _(_) ₂), and a motor for driving said first rotating mass(mass_(m) _(_) ₁), wherein said first rotating mass (mass_(m) _(_) ₁)comprises a master rotating mass (mass_(m) _(_) ₁) with a masterrotating mass controllable rotating imbalance phase Φ₁ _(_) ₁, and saidsecond corotating mass (mass_(m) _(_) ₂) comprises a slave corotatingmass (mass_(m) _(_) ₂) with a slave rotating mass controllable rotatingimbalance phase φ₁ _(_) ₂ with said detent controlling said slaverotating mass controllable rotating imbalance phase φ₁ _(_) ₂ relativeto said master rotating mass controllable rotating imbalance phase Φ₁_(_) ₁.
 11. A vehicle, as claimed in claim 1, including n nonrotatingvehicle body vibration sensors and m nonrotating vehicle body circularforce generators, with m≧2, said first nonrotating vehicle body circularforce generator including a first rotating imbalance concentration mass(mass₁ _(_) ₁) controllably driven about a first circular forcegenerator axis with a first rotating mass controllable rotatingimbalance phase Φ₁ _(_) ₁ and a second corotating imbalanceconcentration mass (mass₁ _(_) ₂) controllably driven about said firstcircular force generator axis with a second rotating mass controllablerotating imbalance phase φ₁ _(_) ₂, and a second nonrotating vehiclebody circular force generator including a first rotating imbalanceconcentration mass (mass₂ _(_) ₁) controllably driven about a secondcircular force generator axis with a first rotating mass controllablerotating imbalance phase Φ₂ _(_) ₁ and a second corotating imbalanceconcentration mass (mass₂ _(_) ₂) controllably driven about said secondcircular force generator axis with a second rotating mass controllablerotating imbalance phase Φ₂ _(_) ₂, said second nonrotating vehicle bodycircular force generator oriented relative to said first nonrotatingvehicle body circular force generator wherein said second circular forcegenerator axis is nonparallel with said first circular force generatoraxis.
 12. A vehicle, as claimed in claim 11, wherein m≧3, and includinga third nonrotating vehicle body circular force generator including afirst rotating imbalance concentration mass (mass₃ _(_) ₁) controllablydriven about a third circular force generator axis with a first rotatingmass controllable rotating imbalance phase Φ₃ _(_) ₁ and a secondcorotating imbalance concentration mass (mass₃ _(_) ₂) controllablydriven about said third circular force generator axis with a secondrotating mass controllable rotating imbalance phase Φ₃ _(_) ₂, saidthird circular force generator axis oriented relative to said secondcircular force generator axis and said first circular force generatoraxis.
 13. A vehicle as claimed in claim 1 wherein said vehiclenonrotating vehicle body includes a vehicle ceiling and a distal vehiclefloor, said distal vehicle floor below said vehicle ceiling, saidvehicle including n nonrotating vehicle body vibration sensors and mnonrotating vehicle body circular force generators, said vehiclevibration control system controller calculates a rotating referencesignal from said vehicle rotating machine member data correlating tosaid relative rotation of said vehicle rotating machine member rotatingrelative to said nonrotating vehicle body, said first nonrotatingvehicle body circular force generator including a first rotatingimbalance concentration mass (mass₁ _(_) ₁) controllably driven about afirst rotating mass axis with a first rotating mass controllablerotating imbalance phase Φ₁ _(_) ₁ and a second corotating imbalanceconcentration mass (mass₁ _(_) ₂) controllably driven about a secondrotating mass axis with a second rotating mass controllable rotatingimbalance phase φ₁ _(_) ₂, said imbalance phase Φ₁ _(_) ₁ and saidimbalance phase φ₁ _(_) ₂ controlled in reference to said rotatingreference signal, said first nonrotating vehicle body circular forcegenerator mounted to said vehicle body proximate said vehicle ceiling,and said m^(th) nonrotating vehicle body circular force generatorincluding a first rotating imbalance concentration mass (mass_(m) _(_)₁) controllably driven about a first rotating mass axis with a firstrotating mass controllable rotating imbalance phase Φ_(m) _(_) ₁ and asecond corotating imbalance concentration mass (mass_(m) _(_) ₂)controllably driven about a second rotating mass axis with a secondrotating mass controllable rotating imbalance phase Φ_(m) _(_) ₂, saidimbalance phase Φ_(m) _(_) ₁ and said imbalance phase Φ_(m) _(_) ₂controlled in reference to said rotating reference signal, said m^(th)nonrotating vehicle body circular force generator mounted to saidvehicle body proximate said vehicle floor.
 14. A vehicle as claimed inclaim 1 wherein said vehicle nonrotating vehicle body includes a vehicletransmission for transmitting rotational power to said rotating machinemember, said vehicle vibration control system controller calculates arotating reference signal from said vehicle rotating machine member datacorrelating to said relative rotation of said vehicle rotating machinemember rotating relative to said nonrotating vehicle body, said firstnonrotating vehicle body circular force generator including a firstrotating imbalance concentration mass (mass₁ _(_) ₁) controllably drivenabout a first rotating mass axis with a first rotating mass controllablerotating imbalance phase Φ₁ _(_) ₁ and a second corotating imbalanceconcentration mass (mass₁ _(_) ₂) controllably driven about a secondrotating mass axis with a second rotating mass controllable rotatingimbalance phase φ₁ _(_) ₂, said imbalance phase φ₁ _(_) ₁ and saidimbalance phase Φ₁ _(_) ₂ controlled in reference to said rotatingreference signal, said first nonrotating vehicle body circular forcegenerator mounted to said vehicle transmission.
 15. A vehicle as claimedin claim 8 wherein said first nonrotating vehicle body circular forcegenerator first rotating imbalance concentration mass (mass₁ _(_) ₁) isdriven to rotate at a first nonrotating vehicle body circular forcegenerator vibration canceling rotation frequency and said secondcorotating imbalance concentration mass (mass₁ _(_) ₂) is driven torotate at said first nonrotating vehicle body circular force generatorvibration canceling rotation frequency with said first rotating masscontrollable rotating imbalance phase φ₁ _(_) ₁ and said second rotatingmass controllable rotating imbalance phase Φ₁ _(_) ₂ opposingly orientedwith a 180 degree separation opposed position during a starting stoppingrotation frequency less than said first nonrotating vehicle bodycircular force generator vibration canceling rotation frequency.
 16. Avehicle as claimed in claim 8 wherein said circular force generatorincludes at least a first rotating externally housed cooling fan havinga rotation motion for cooling said circular force generator, saidcooling fan rotation motion linked with a rotation of said firstrotating mass (mass₁ _(_) ₁) or said second corotating mass (mass₁ _(_)₂).